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Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection
The aim of this study is to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of...
| Autores principales: | , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8356049/ https://www.ncbi.nlm.nih.gov/pubmed/34395538 http://dx.doi.org/10.3389/frobt.2021.706558 |