Design, Modeling and Control of A Novel USV-Manipulator System

This paper introduces a novel vehicle-manipulator system which can contribute to develp theories for automatic harbors and reduce burden on human beings. It can carry out multiple tasks like helping surface vehicle berth, transporting goods and so on flexibly. It is composed of an omni-directional unmanned surface vehicle (USV) and a manipulator, and multiple control methods including real-time nonlinear model predictive control (NMPC) are applied. Simulation and experiment are implemented to verify its ability.