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