Coordinated Motion Control of Underwater Vehicle-Manipulator System with Minimizing Restoring Moments

In this paper, coordinated motion control of Underwater Vehicle-Manipulator System (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution with optimization of restoring moments as motion planning and inverse optimal nonlinear H-infinity control as robust tracking controller. Numerical simulations are presented to demonstrate performance of proposed coordinated motion control of UVMS. As a result, control input for tracking is reduced and UVMS can track generated trajectories under parameter uncertainties.