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Hovering control of an underwater robot with tilting thrusters using the decomposition and compensation method based on a redundant actuation model

Jeongae Bak, Yecheol Moon, JongWon Kim 0002, Santhakumar Mohan, Taewon Seo, Sangrok Jin. Hovering control of an underwater robot with tilting thrusters using the decomposition and compensation method based on a redundant actuation model. Robotics and Autonomous Systems, 150:103995, 2022. [doi]

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