Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters
This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Publishing Corporation,
2014.
|
| Subjects: | |
| Online Access: | Get fulltext |