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.
Top class research in underwater robotics Underwater Robots represents the state of the art in dynamic robotic dynamic control of underwater vehicles, offering a mathematical model with significant impact on the control strategy The third edition is substantially improved and includes expanded theory and improved simulations Written by a leading expert in the field Includes a rewritten simulator which will be available for download