# Actuator fault-tolerant control study of an underwater robot with four rotatable thrusters

> Research article (Ocean Engineering, 2020) · cited 57× · AI/ML

**Wikidata**: [openalex:W3003599762](https://www.wikidata.org/wiki/openalex:W3003599762)  
**Source**: https://4ort.xyz/entity/actuator-fault-tolerant-control-study-of-an-underwater-robot-with-four-rotatable-thrusters