A robust controller with integral action for underwater vehicle-manipulator systems including thruster dynamics

This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrust-ers in the presence of uncertainties in system parameters and bounded disturbances. We have developed a robust controller that overcomes thruster nonlinearities, which cause an uncontrollable system. However, the robust controller has disadvantages in performance (e.g., steady-state errors). In this paper we develop a robust controller with integral actions which improve the control performances. In order to confirm the usefulness of adding integral actions to the robust controller, numerical simulations are performed.