I. Schjolberg et O. Egeland, MOTION CONTROL OF UNDERWATER VEHICLE-MANIPULATOR SYSTEMS USING FEEDBACK LINEARIZATION, Modeling, identification and control, 17(1), 1996, pp. 17-26
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.