Minimum energy based fine motion control of underwater robots in the presence of thruster nonlinearity

Aaron M. Hanai, Hyun Taek Choi, Song K. Choi, Junku Yuh. Minimum energy based fine motion control of underwater robots in the presence of thruster nonlinearity. In 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003. pages 559-564, IEEE, 2003. [doi]

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