An adaptive robust impedance controller design for underwater object manipulation with ocean currents and waves

This research presents the development of adaptive multiple impedance control protocols for Underwater Vehicle Manipulating Systems (UVMSs). The proposed multiple impedance control algorithm applies an impedance force to both the object and the end-effector, ensuring uniform impedance behavior across all controlled components. This approach maintains consistent control modes, seamlessly integrating position and force control while effectively regulating system behavior in response to environmental conditions and optimally adjusting impact forces. Furthermore, by incorporating adaptive rules and integrating them with multiple impedance control principles, the study introduces multiple impedance adaptive control rules that achieve satisfactory performance amidst uncertainties related to the dynamic model and environmental disturbances. The obtained results demonstrate that the proposed controller meets the specified performance objectives, effectively tackling the distinct challenges associated with underactuated underwater vehicles.