Abstract
This book covers the area of robot control while addressing the additional challenges of a mobile platform (the underwater vehicle) and considers the difficulties and adversity related to the underwater environment. Some of the topics covered include: a discussion on the state of underwater vehicle technology; modeling of underwater vehicle/manipulator systems (UVMs); a survey of existing control algorithms for autonomous underwater vehicles (AUVs); fault detection and tolerance strategies for underwater vehicles; experimental results on both control and fault tolerance to thruster faults; the kinematics, dynamics, and interaction control for UVMs; and coordinated control of a platoon of AUVs. This book does an excellent job presenting many of the issues related to the modeling and control of UVMs. The number of references is impressive, and most of the work in the field that any researcher would need to consult for a deeper understanding of the state of the art is included.
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