A fault diagnosis and fault-tolerant control method of open-frame underwater vehicles for incipient thruster fault.

Daqi Zhu Qian Liu Chuyao Chen A fault diagnosis and fault-tolerant control method of open-frame underwater vehicles for incipient thruster fault. 159-166 2008 ARCS conf/arcsf/2008 db/conf/arcsf/arcs2008.html#ZhuLC08