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Encyclopedia of Systems and Control pp 697–701Cite as

Mathematical Models of Marine Vehicle-Manipulator Systems

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Abstract

Marine intervention requires the use of manipulators mounted on support vehicles. Such systems, defined as vehicle-manipulator systems, exhibit specific mathematical properties and require proper control design methodologies. This article briefly discusses the mathematical model within a control perspective as well as sensing and actuation peculiarities.

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Bibliography

  • Antonelli, G (2014) Underwater robots: motion and force control of vehicle-manipulator systems. Springer tracts in advanced robotics, Springer-Verlag, 3rd edn. Springer, Heidelberg

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  • Antonelli G, Fossen T, Yoerger D (2008) Underwater robotics. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 987–1008

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  • Fossen T (1994) Guidance and control of ocean vehicles. Chichester, New York

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  • Fossen T (2002) Marine control systems: guidance, navigation and control of ships, rigs and underwater vehicles. Marine Cybernetics, Trondheim

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  • Fossen T (2011) Handbook of marine craft hydrodynamics and motion control. Wiley, Chichester

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  • TRIDENT (2012) Marine robots and dexterous manipulation for enabling autonomous underwater multipurpose intervention missions. http://www.irs.uji.es/trident

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Author information

Authors and Affiliations

  1. University of Cassino and Southern Lazio, Cassino, Italy

    Gianluca Antonelli

Authors
  1. Gianluca Antonelli
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Editor information

Editors and Affiliations

  1. Mechanical Engineering, Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Honeywell Automation and Control Solutions, Golden Valley, MN, USA

    Tariq Samad

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© 2015 Springer-Verlag London

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Antonelli, G. (2015). Mathematical Models of Marine Vehicle-Manipulator Systems. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5058-9_128

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