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Underwater Robots pp 111–173Cite as

Dynamic Control of 6-DOF AUVs and Fault Detection/Tolerance Strategies

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 123))

Abstract

Control of UVMSs require full-DOF control of the vehicle, cruise vehicles with rudder and stern are not suitable to hold a manipulator arm for their incapacity to counteract the interaction forces with the arm itself. For this reason the following chapter restricts the discussion to the problem of controlling an underwater vehicle in 6-DOFs.

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    Gianluca Antonelli

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Antonelli, G. (2018). Dynamic Control of 6-DOF AUVs and Fault Detection/Tolerance Strategies. In: Underwater Robots. Springer Tracts in Advanced Robotics, vol 123. Springer, Cham. https://doi.org/10.1007/978-3-319-77899-0_3

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