Underwater Robots - Gianluca Antonelli.pdf

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5.4 Experiments of Fault Tolerance to Thrusters’ Fault 103
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Fig. 5.9. Experiments of fault tolerant control on ODIN. Left: roll, pitch and yaw
without thrusters’ faults. Right: roll, pitch and yaw with thrusters’ faults. A, first
fault at t =260 satone horizontal thruster. B, second fault at t =300 satone
vertical thruster
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Fig. 5.10. Experiments of fault tolerant control on ODIN. Left: voltages atvertical
thrusters. Right: voltages athorizontal thrusters