Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Mathematical models of marine vehicle-manipulator systems

  • Gianluca AntonelliEmail author
Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_128-1


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.


Marine robotics Underwater robotics Underwater intervention Floating-base manipulators 
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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.University of Cassino and Southern LazioCassinoItaly