Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

Tanakitkorn, Kantapon; Wilson, Philip; Turnock, Stephen; Phillips, Alex. 2017 Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification. Mechatronics, 41. 67-81. https://doi.org/10.1016/j.mechatronics.2016.11.006