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: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Publishing Corporation
2014
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| Subjects: | |
| Online Access: | http://eprints.utm.my/52862/1/ZoolHilmiIsmail2014_Fault-tolerantregion-based.pdf |