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Region-reaching control for underwater vehicle with onboard manipulator

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2 Author(s)
Y. C. Sun ; School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, Singapore ; C. C. Cheah

A region control scheme is proposed for underwater vehicle with onboard manipulator. In the proposed control concept, the desired objective can be specified as a region instead of a point. The region control concept is a generalisation of setpoint control problem because when the desired region is specified arbitrarily small, the control objective reduces to a point. Lyapunov-like functions are proposed for the stability analysis. Simulation studies are presented to demonstrate the effectiveness of the proposed controllers.

Published in:

IET Control Theory & Applications  (Volume:2 ,  Issue: 9 )