Publication Detail

Wide bandwidth positioning systems for space and underwater vehicles

H. Kazerooni, Thomas B Sheridan
15 pp.
MITSG 85-34

With feedback alone, an unmanned underwater (or space) vehicle may not behave like a stiff platform in the presence of a wide frequency range of disturbances. Thus the vehicle must be connected to environmental structures by means of cables or grabbers which will develop dynamic and kinematic constraints on the vehicle motion. An `impedance control' method was developed that allows for control of the motion of constrained underwater or space vehicles. With the help of this method, a vehicle connected to a structure by means of cables can be positioned with high stiffness while at the same time the cable tensions are also under control.

type: Technical reports

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