The use of mono-directional thrusters on under- water vehicle poses interesting issues on actuator allocation, fault detection and accommodation. Preliminary results relative to the horizontal motion of an unhabited underwater vehicle (UUV) are presented.
On thruster allocation, fault detection and accomodation issues for underwater robotic vehicles
G. INDIVERI;
2006-01-01
Abstract
The use of mono-directional thrusters on under- water vehicle poses interesting issues on actuator allocation, fault detection and accommodation. Preliminary results relative to the horizontal motion of an unhabited underwater vehicle (UUV) are presented.
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