Control of underwater robots in working mode

The authors present the application of discrete-time adaptive control to an underwater robotic vehicle (URV) having a mechanical manipulator. During the working mode, the coordinated control system compensates for errors due the manipulator motion and provides high performance in terms of speed and accuracy. Therefore, by using the control approach presented, one can achieve the efficient operation of the vehicle and its manipulator for the desired performance. The control strategy presented does not require prior knowledge about the vehicle system parameters