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...
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Main Authors: | Ismail, Zool Hilmi, Faudzi, Ahmad ’A., Dunnigan, Matthew W. |
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Format: | Article |
Language: | English |
Published: |
Hindawi Publishing Corporation
2014
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/52862/1/ZoolHilmiIsmail2014_Fault-tolerantregion-based.pdf http://eprints.utm.my/id/eprint/52862/ http://dx.doi.org/10.1155/2014/527315 |
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