Cascaded switching supervisory control of nonlinear underwater robotic vehicle for pipeline tracking
In recent years, remotely operated vehicles (ROV) have experienced tremendous growth in underwater pipeline inspections where human diving is impractical. However, the ROV stabilization and pipeline tracking applications present several difficulties due to its inherent nonlinear state coupling, mode...
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| Format: | Thesis |
| Language: | English |
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2009
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| Online Access: | https://hdl.handle.net/10356/14583 |