A comparative study of neglected dynamics on an underwater vehicle/manipulator system under nonlinear robust control

This paper is dedicated to the comparative study of different behaviors of an underwater vehicle/manipulator system when some of the neglected control approach dynamics are included in the model, such as sampling time implementation and the thruster nonlinearities. A robust nonlinear control based on simple-dynamic model is used. The neglected dynamics limit the nonlinear gain of the robust control and demand compensation of the input control signal.