{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T20:40:23Z","timestamp":1777495223922,"version":"3.51.4"},"reference-count":38,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2019,12,11]],"date-time":"2019-12-11T00:00:00Z","timestamp":1576022400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Key Basic Research Project of \u201cShanghai Science and Technology Innovation Plan\u201d","award":["No.15JC1403300"],"award-info":[{"award-number":["No.15JC1403300"]}]},{"name":"Field Fund of the 13th Five-Year Plan for the Equipment Pre-research Fund","award":["No.61403120301"],"award-info":[{"award-number":["No.61403120301"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61633009"],"award-info":[{"award-number":["61633009"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51579053"],"award-info":[{"award-number":["51579053"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51779052"],"award-info":[{"award-number":["51779052"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51779059"],"award-info":[{"award-number":["51779059"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties. These uncertainties contain vision sensor parameters, UVMS kinematics and feature position information. At first, a linear separation approach is addressed to collect these uncertainties into vectors, and this approach can also be utilized in other free-floating based manipulator systems. Secondly, a novel nonlinear adaptive controller is proposed to achieve image error convergence by estimating these vectors, the gradient projection method is utilized to optimize the restoring moments. Thirdly, a high order disturbance observer is addressed to deal with time-varying disturbances, and the convergence of the image errors is proved under the Lyapunov theory. Finally, in order to illustrate the effectiveness of the proposed method, numerical simulations based on a 9 degrees of freedom (DOFs) UVMS with an eye-in-hand camera are conducted. In simulations, the UVMS is expected to track a circle trajectory on the image plane, meanwhile, time-varying disturbances are exerted on the system. The proposed scheme can achieve accurate and smooth tracking results during simulations.<\/jats:p>","DOI":"10.3390\/s19245469","type":"journal-article","created":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T03:20:16Z","timestamp":1576120816000},"page":"5469","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera"],"prefix":"10.3390","volume":"19","author":[{"given":"Jiyong","family":"Li","sequence":"first","affiliation":[{"name":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hai","family":"Huang","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Xu","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Han","family":"Wu","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Wan","sequence":"additional","affiliation":[{"name":"National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1773","DOI":"10.1109\/TCYB.2017.2715228","article-title":"A sampling-based Bayesian approach for cooperative multiagent online search with resource constraints","volume":"48","author":"Xiao","year":"2018","journal-title":"IEEE Trans. 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