<p>This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.</p>

Underwater Robots (Springer Tracts in Advanced Robotics)

Computers & Technology

Gianluca Antonelli

Computer Science

Springer, Verlag

Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)

Springer-Verlag Berlin and Heidelberg GmbH & Co. K

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.

Springer-Verlag Berlin and Heidelberg GmbH & Co. KG

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Books by Gianluca Antonelli