Dynamic Control of UVMSs

[1]  Guangjun Liu,et al.  Precision Control of Modular Robot Manipulators: The VDC Approach With Embedded FPGA , 2013, IEEE Transactions on Robotics.

[2]  Sadao Kawamura,et al.  Pitch and roll control using independent movable floats for small underwater robots , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Gianluca Antonelli,et al.  A novel adaptive control law for underwater vehicles , 2003, IEEE Trans. Control. Syst. Technol..

[4]  Gianluca Antonelli,et al.  Task-priority redundancy resolution for underwater vehicle-manipulator systems , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  R. Lakshmi,et al.  A coordinated control of an underwater vehicle and robotic manipulator , 1991, J. Field Robotics.

[6]  Kar-Keung D. Young.  Controller Design for a Manipulator Using Theory of Variable Structure Systems , 1978, IEEE Transactions on Systems, Man, and Cybernetics.

[7]  Junku Yuh,et al.  Experimental study on advanced underwater robot control , 2005, IEEE Transactions on Robotics.

[8]  Henk Nijmeijer,et al.  A passivity approach to controller-observer design for robots , 1993, IEEE Trans. Robotics Autom..

[9]  Matthew W. Dunnigan,et al.  Reduction of the dynamic coupling between a manipulator and ROV using variable structure control , 1994 .

[10]  Timothy W. McLain,et al.  Experiments in the coordinated control of an underwater arm/vehicle system , 1996, Auton. Robots.

[11]  G. T. Russell,et al.  Evaluation and reduction of the dynamic coupling between a manipulator and an underwater vehicle , 1998 .

[12]  Junku Yuh,et al.  An Adaptive and Learning Control System for Underwater Robots , 1996 .

[13]  Giacomo Marani,et al.  Autonomous manipulation for an intervention AUV 217 , 2006 .

[14]  Thor I. Fossen,et al.  Singularity-free tracking of unmanned underwater vehicles in 6 DOF , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[15]  Junku Yuh,et al.  Experimental study on a learning control system with bound estimation for underwater robots , 1996, Auton. Robots.

[16]  M. Perrier,et al.  Control of underwater vehicle/manipulator with composite dynamics , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[17]  Stefano Chiaverini,et al.  Fuzzy Inverse Kinematics for Underwater Vehicle-Manipulator Systems , 2000 .

[18]  Wen-Hong Zhu,et al.  Virtual decomposition based control for generalized high dimensional robotic systems with complicated structure , 1997, IEEE Trans. Robotics Autom..

[19]  Junku Yuh,et al.  Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[20]  Stanley W. Shepperd,et al.  Quaternion from Rotation Matrix , 1978 .

[21]  Chien Chern Cheah,et al.  Adaptive setpoint control of underwater vehicle-manipulator systems , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[22]  Junku Yuh,et al.  Adaptive control of underwater vehicle-manipulator systems subject to joint limits , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[23]  Junku Yuh,et al.  Experimental study on adaptive control of underwater robots , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[24]  Jean-Jacques E. Slotine,et al.  Hamiltonian adaptive control of spacecraft , 1990 .

[25]  K. Ishii,et al.  Dynamics analysis and resolved acceleration control of an autonomous underwater vehicle equipped with a manipulator , 2004, Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869).

[26]  Junku Yuh,et al.  Dynamic analysis and two-time scale control for underwater vehicle-manipulator systems , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[27]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[28]  Sadao Kawamura,et al.  An attitude control system for underwater vehicle-manipulator systems , 2010, 2010 IEEE International Conference on Robotics and Automation.

[29]  Pere Ridao,et al.  Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention , 2013, IEEE Robotics & Automation Magazine.

[30]  Gianluca Antonelli,et al.  On the use of integral control actions for autonomous underwater vehicles , 2001, 2001 European Control Conference (ECC).

[31]  Thor I. Fossen,et al.  Robust Adaptive Control of Underwater Vehicles: A Comparative Study , 1995 .

[32]  Stefano Chiaverini,et al.  A MODULAR CONTROL LAW FOR UNDERWATER VEHICLE-MANIPULATOR SYSTEMS ADAPTING ON A MINIMUN SET OF PARAMETERS , 2002 .

[33]  Junku Yuh,et al.  On‐board sensor‐based adaptive control of small UUVs in very shallow water* , 2000 .

[34]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[35]  O. Egeland,et al.  Passivity-based adaptive attitude control of a rigid spacecraft , 1994, IEEE Trans. Autom. Control..

[36]  Junku Yuh,et al.  Underwater autonomous manipulation for intervention missions AUVs , 2009 .

[37]  Stefano Chiaverini,et al.  Adaptive tracking control of underwater vehicle-manipulator systems , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[38]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[39]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[40]  Il Hong Suh,et al.  Disturbance observer-based robust control for underwater robotic systems with passive joints , 2001, Adv. Robotics.

[41]  Junku Yuh,et al.  Modeling and control of underwater robotic vehicles , 1990, IEEE Trans. Syst. Man Cybern..

[42]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[43]  Norimitsu Sakagami,et al.  A neuro-fuzzy controller for underwater robot manipulators , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[44]  Tzyh Jong Tarn,et al.  A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method , 1996, Auton. Robots.

[45]  Jens G. Balchen,et al.  The Nerov Autonomous Underwater Vehicle , 1991, OCEANS 91 Proceedings.

[46]  Michel Perrier,et al.  Controlling the manipulator of an underwater ROV using a coarse calibrated pan/tilt camera , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[47]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[48]  Naomi Kato,et al.  Co-ordinated control of multiple manipulators in underwater robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[49]  Carlos Canudas de Wit,et al.  Robust nonlinear control of an underwater vehicle/manipulator system with composite dynamics , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[50]  Liu Hsu,et al.  Quaternion-based coordinated control of a subsea mobile manipulator with only position measurements , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[51]  R. Lakshmi,et al.  Control of underwater robots in working mode , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[52]  Gabriel Oliver,et al.  Reconfigurable AUV for intervention missions: a case study on underwater object recovery , 2012, Intell. Serv. Robotics.

[53]  Gianluca Antonelli,et al.  Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach , 2004, IEEE Transactions on Robotics and Automation.

[54]  Junku Yuh,et al.  Real-time center of buoyancy identification for optimal hovering in autonomous underwater intervention , 2010, Intell. Serv. Robotics.

[55]  Jadran Lenarčič,et al.  Advances in Robot Kinematics , 2000 .

[56]  Wen-Hong Zhu,et al.  Virtual Decomposition Control - Toward Hyper Degrees of Freedom Robots , 2010, Springer Tracts in Advanced Robotics.

[57]  Sadao Kawamura,et al.  Analysis on dynamics of underwater robot manipulators based on iterative learning control and time-scale transformation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[58]  Ronald L. Huston,et al.  Dynamics of Multibody Systems , 1988 .

[59]  T.I. Fossen.  Adaptive macro-micro control of nonlinear underwater robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[60]  Minho Lee,et al.  A robust neural controller for underwater robot manipulators , 2000, IEEE Trans. Neural Networks Learn. Syst..

[61]  K. Ishii,et al.  Development of an underwater manipulator mounted for an AUV , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[62]  S. Chiaverini,et al.  Singularity-free regulation of underwater vehicle-manipulator systems , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[63]  Dong-Soo Kwon,et al.  Control of underwater manipulators mounted on an ROV using base force information , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[64]  Junku Yuh,et al.  Application of adaptive disturbance observer control to an underwater manipulator , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[65]  Weiping Li,et al.  Adaptive strategies in constrained manipulation , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[66]  Tzyh Jong Tarn,et al.  Modeling and control for underwater robotic manipulators - an example , 1997, Proceedings of International Conference on Robotics and Automation.

[67]  Dana R. Yoerger,et al.  Development, comparison, and preliminary experimental validation of nonlinear dynamic thruster models , 1999 .

[68]  Stefano Chiaverini,et al.  A virtual-decomposition based approach to adaptive control of underwater vehicle-manipulator systems , 2001 .

[69]  Gianluca Antonelli,et al.  A novel adaptive control law for autonomous underwater vehicles , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[70]  Michel Perrier,et al.  Nonlinear control of an underwater vehicle/manipulator with composite dynamics , 2000, IEEE Trans. Control. Syst. Technol..

[71]  Lionel Lapierre,et al.  Position/Force Control of an Underwater Vehicle Equipped with a Robotic Manipulator , 2000 .

[72]  Stefano Chiaverini,et al.  A Fuzzy Approach to Redundancy Resolution for Underwater Vehicle-Manipulator Systems , 2000 .