Underwater Robots - Gianluca Antonelli.pdf

e.e. orientation error [deg]
2
1
0
−1
7.9 Virtual Decomposition Based Control 197
−2
0 10 20 30
time [s]
Fig. 7.32. Virtual decomposition control +proper adaptive action. End-effector
orientation error
at the manipulator’s joints, are kept limited along all the trajectory and are
characterized by asmooth profile. It is worth noticing that, at the beginning
of the task, the controller is not aware of the presence ofthe current; a
compensation can be observed mainly along the x and y vehicle linear forces
and moments.
vehicle forces [N]
200
0
−200
−400
−600
−800
Z
−1000
0 10 20 30
time [s]
Fig. 7.33. Virtual decomposition control +proper adaptive action. Vehicle control
forces
In Figures 7.36–7.38, the vehicle position and orientation and the joint
tracking errors are reported. The tracking errors along the yaw direction can
Y
φ
X
θ
ψ