Research Article
Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters
Table 1
Simulation results for Case 2: required thruster forces.
| | Conventional tracking controller | Proposed control scheme |
| Horizontal thrusters, (N) | 487.42 | 483.29 | Vertical thrusters, (N) | 229.53 | 218.43 |
| Total input, (N) | 716.95 | 701.72 |
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