This paper presents the control framework that has been proposed and successfully
employed within the TRIDENT EU FP7 project, the aim of which is to develop a multipurpose …

This work addresses the design, implementation and testing of a new precision guidance
and control system for an inspection class remotely operated underwater vehicle (ROV). A …

In this paper, the development and experimental validation of a novel double two-loop
nonlinear controller based on adaptive neural networks for a quadrotor are presented. The …

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing,
using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible …

The problem of designing, implementing and testing a general-purpose guidance and
control system for unmanned underwater vehicles for scientific applications is addressed in …

Modern applications of robotics typically involve a robot control system with an inner
proportional-integral (PI) or proportional-integral-derivative (PID) control loop and an outer …

This paper addresses the operational space motion control—trajectory tracking—of robot
manipulators endowed with joint velocity feedback inner loops. A general structure for model …

It is well known that many industrial manipulators use an embedded linear proportional‐
integral (PI) joint velocity controller to guarantee motion control through proper velocity …

For decades, Remotely Operated underwater Vehicles (ROVs) have been helping mankind
explore the depths of the ocean, and build and maintain infrastructure on the seafloor. Since …

In this paper, a new control algorithm for operational space trajectory tracking control of
robot arms is introduced. The new algorithm does not require velocity measurement and is …