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

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 problem of controlling a 6-degrees-of-freedom 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 ODIN autonomous vehicle are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control.

The second edition is substantially improved and expanded, presenting new information on fault-tolerant control and coordinated control of autonomous underwater vehicles, and streamlining the presentation overall.