Adaptive macro-micro control of nonlinear underwater vehicle-manipulator systems is addressed. The adaptive passivity-based control scheme is formulated in an augmented task-space where both the underwater vehicle and the end-effector have 6 degrees of freedom (DOF). The underwater vehicle represents a slow gross positioning part while the manipulator's end-effector represents the fast part. Underwater vehicle-manipulator systems where the number of inputs exceeds the number of controllable degrees of freedom (DOF) are also considered. The input uncertainty in such systems is considered in detail. Global stability is ensured by applying Barbalat's Lyapunov-like lemma for non-autonomous systems.
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