A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system

A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to assess the effectiveness of the proposed control scheme.