Autonomous Manipulation of an Underwater Vehicle-Manipulator System by a Composite Control Scheme With Disturbance Estimation.
Mingxue CaiYu WangShuo WangRui WangMin TanPublished in: IEEE Trans Autom. Sci. Eng. (2024)
Keyphrases
- control scheme
- robot manipulators
- underwater vehicles
- control system
- robotic manipulator
- closed loop
- dynamic model
- control strategy
- predictive control
- external disturbances
- control law
- inverse kinematics
- force control
- fuzzy controller
- control method
- trajectory tracking
- controller design
- end effector
- control loop
- pid controller
- neural network controller
- human arm
- computer simulation
- degrees of freedom
- artificial intelligence
- fault tolerant control
- induction motor
- robotic systems
- tracking error
- feedback control
- sliding mode control
- control strategies
- mathematical models
- control algorithm
- optimal control
- particle swarm optimization