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In various interaction tasks using Underwater Vehicle Manipulator Systems(UVMSs) (e.g. sampling of the sea organisms, underwater welding), importantfactors such as: i) uncertainties and complexity of UVMS dynamic model ii)external disturbances (e.g. sea currents and waves) iii) imperfection andnoises of measuring sensors iv) steady state performance as well as v) inferiorovershoot of interaction force error, should be addressed during the forcecontrol design. Motivated by the above factors, this paper presents amodel-free control protocol for force controlling of an Underwater VehicleManipulator System which is in contact with a compliant environment, withoutincorporating any knowledge of the UVMS's dynamic model, exogenous disturbancesand sensor's noise model. Moreover, the transient and steady state response aswell as reduction of overshooting force error are solely determined by certaindesigner-specified performance functions and are fully decoupled by the UVMS'sdynamic model, the control gain selection, as well as the initial conditions.Finally, a simulation study clarifies the proposed method and verifies itsefficiency.

A Robust Force Control Approach for Underwater Vehicle Manipulator Systems