This book deals with 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; experimental
results obtained with the vehicle ODIN are presented. The presence of
a manipulator is further studied in the aspects of kinematic, dynamic and
interaction control. The purpose of this second edition is to add material
not covered in the first edition as well as streamline and improve the
previous material.

Download File Size:8.02 MB

---