Underwater robots : motion and force control of vehicle-manipulator systems
著者
書誌事項
Underwater robots : motion and force control of vehicle-manipulator systems
（Springer tracts in advanced robotics, v. 2）
Springer, c2006
2nd ed
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注記
Includes bibliographical references (p. [247]-265)
内容説明・目次
内容説明
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.
目次
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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