Underwater Robots – 2nd Edition Motion and Force Control of Vehicle-Manipulator Systems /

• Main Author: Antonelli, Gianluca (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2006.
• Series: Springer Tracts in Advanced Robotics, 2
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Building construction.; Robotics and Automation.; Offshore Engineering.; Control.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.; Control, Robotics, Mechatronics.

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...

Table of Contents:

• 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.