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2018 | OriginalPaper | Buchkapitel

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

verfasst von : Gianluca Antonelli

Erschienen in: Underwater Robots

Verlag: Springer International Publishing

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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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Vorheriges Kapitel Modelling of Underwater Robots
Nächstes Kapitel Control of UVMSs
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Metadaten
Titel
Dynamic Control of 6-DOF AUVs and Fault Detection/Tolerance Strategies
verfasst von
Gianluca Antonelli
Copyright-Jahr
2018
Buch
Underwater Robots

Print ISBN: 978-3-319-77898-3

Electronic ISBN: 978-3-319-77899-0

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-319-77899-0_3

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