A region reaching control scheme for underwater vehicle-manipulator systems
YC Sun, CC Cheah - Proceedings 2007 IEEE International …, 2007 - ieeexplore.ieee.org
YC Sun, CC Cheah
Proceedings 2007 IEEE International Conference on Robotics and …, 2007•ieeexplore.ieee.orgIn this paper, a new region control scheme is proposed for underwater vehicle-manipulator
systems (UVMS). In the proposed control concept, the desired objective can be specified as
a region instead of a point. The proposed region control concept is a generalization of
setpoint control problem because when the desired region is specified arbitrarily small, the
control objective reduces to a point. Lyapunov-like function is proposed for the stability
analysis. Simulation studies are presented to demonstrate the effectiveness of the proposed …
systems (UVMS). In the proposed control concept, the desired objective can be specified as
a region instead of a point. The proposed region control concept is a generalization of
setpoint control problem because when the desired region is specified arbitrarily small, the
control objective reduces to a point. Lyapunov-like function is proposed for the stability
analysis. Simulation studies are presented to demonstrate the effectiveness of the proposed …
In this paper, a new region control scheme is proposed for underwater vehicle-manipulator systems (UVMS). In the proposed control concept, the desired objective can be specified as a region instead of a point. The proposed region control concept is a generalization of setpoint control problem because when the desired region is specified arbitrarily small, the control objective reduces to a point. Lyapunov-like function is proposed for the stability analysis. Simulation studies are presented to demonstrate the effectiveness of the proposed controller.
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