Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems

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Overview

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

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Paperback (Softcover reprint of hardcover 2nd ed. 2006)
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More About This Book

Overview

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

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Product Details

  • ISBN-13: 9783642068591
  • Publisher: Springer-Verlag New York, LLC
  • Publication date: 11/29/2010
  • Series: Springer Tracts in Advanced Robotics Series , #2
  • Edition description: Softcover reprint of hardcover 2nd ed. 2006
  • Edition number: 2
  • Pages: 296
  • Sales rank: 998,980
  • Product dimensions: 6.14 (w) x 9.21 (h) x 0.62 (d)

Table of Contents

Introduction.- Modelling of Underwater Robots.- Dynamic Control of 6-DOF AUVs.- Fault Detection/Tolerance Strategies for AUVs and ROVs.- Experiments of Dynamic Control of a 6-DOF AUV.- Kinematic Control of UVMSs.- Dynamic Control of UVMSs.- Interaction Control of UVMSs.- Coordinated Control of Platoons of AUVs.- Concluding Remarks.

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