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- W2619952021 abstract "In this paper the problem of controlling an underwater vehicle-manipulator system is considered. The task is assigned in terms of a desired position and orientation trajectory for the vehicle, and a desired joint motion for the manipulator. It is assumed that velocity measurements are not available and the output of a suitable lead filter on the position and orientation errors is used in lieu of the velocity error. Asymptotic stability of the closed loop system is ensured. In order to avoid representation singularities of the orientation, the unit quaternion is adopted to express the vehicle attitude. Simulation results are presented, showing the effectiveness of the proposed control law." @default.
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- W2619952021 date "2000-09-01" @default.
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- W2619952021 title "Control of Underwater Vehicle-Manipulator Systems Using Only Position and Orientation Measurements" @default.
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- W2619952021 doi "https://doi.org/10.1016/s1474-6670(17)37979-x" @default.
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