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The operation of these is complicated by pronounced coupling effects between manipulator and carrier vehicle. Existing vehicle guidance, navigation and control systems only take these coupling effects into account indirectly or neglect them. In contrast, the presented system contains a control concept that includes model-based feed forward control for the carrier vehicle, the manipulator, and the target object. The function of the developed control system is demonstrated in real-world validation experiment. The results for the control system with different levels of feed forward control are compared.<\/jats:p>","DOI":"10.1515\/auto-2025-0072","type":"journal-article","created":{"date-parts":[[2026,3,2]],"date-time":"2026-03-02T15:46:28Z","timestamp":1772466388000},"page":"145-157","source":"Crossref","is-referenced-by-count":0,"title":["Control system design for a small underwater vehicle manipulator system \u2013 a case study"],"prefix":"10.1515","volume":"74","author":[{"given":"Sven","family":"Lack","sequence":"first","affiliation":[{"name":"Institute of Automation , University of Rostock , Rostock , Germany"}]},{"given":"Carsten","family":"Rethfeldt","sequence":"additional","affiliation":[{"name":"Institute of Automation , University of Rostock , Rostock , Germany"}]},{"given":"Martin","family":"Kurowski","sequence":"additional","affiliation":[{"name":"Institute of Automation , University of Rostock , Rostock , Germany"}]},{"given":"Torsten","family":"Jeinsch","sequence":"additional","affiliation":[{"name":"Institute of Automation , University of Rostock , Rostock , Germany"}]}],"member":"374","published-online":{"date-parts":[[2026,3,3]]},"reference":[{"key":"2026031903485374523_j_auto-2025-0072_ref_001","unstructured":"G. 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