Digital RAC for underwater vehicle-manipulator systems considering singular configuration. - Shinichi Sagara; Masakazu Tamura; Takashi Yatoh; Kenzo Shibuya (Artif. Life Robotics, 2006)

Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator. - Takashi Yatoh; Shinichi Sagara; Masakazu Tamura (Artif. Life Robotics, 2008)

Digital RAC with a disturbance observer for underwater vehicle-manipulator systems. - Shinichi Sagara; Takashi Yatoh; Tomoaki Shimozawa (Artif. Life Robotics, 2010)