MOTION CONTROL OF UNDERWATER VEHICLE-MANIPULATOR SYSTEMS USING FEEDBACK LINEARIZATION

In this paper control of underwater vehicle-manipulator systems using feedback linearization has been studied. Performance, robustness and e nergy consumption of the system depend on the choice of output variabl es, these output variables can be chosen in several ways. In this pape r two alternatives have been analysed by simulations, decoupling of th e manipulator end-effector velocities from the -vehicle velocities and from the -total system momentum. The performance is almost the same f or the two choices of decoupling schemes while robustness and energy c onsumption of the system depend on the accuracy of the dynamic model.