Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation

IEEE Transactions on Robotics and Automation

Volumn 18, Issue 2, 2002, Pages 223-233

  Sarkar, Nilanjan ^a,b   Podder, Tarun Kanti ^a,c   Antonelli, Gianluca ^d  

^a IEEE   (United States)

^b VANDERBILT UNIVERSITY   (United States)

^c R Systems Inc   (United States)

^d UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

Autonomous underwater vehicle (AUV); Fault tolerant control; Thruster saturation; Trajectory tracking

Indexed keywords

FAULT TOLERANT CONTROL; FORCE ALLOCATION; THRUSTER SATURATION; TRAJECTORY TRACKING;

COMPUTER SIMULATION; DYNAMICS; FAILURE ANALYSIS; FORCE CONTROL; REDUNDANCY; ROBOTICS; STATE FEEDBACK; TRACKING (POSITION);

REMOTELY OPERATED VEHICLES;

EID: 0036529597     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.999650     Document Type: Article

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