# Hovering control of an underwater robot with tilting thrusters using the decomposition and compensation method based on a redundant actuation model

> Research article (Robotics and Autonomous Systems, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4205880316](https://www.wikidata.org/wiki/openalex:W4205880316)  
**Source**: https://4ort.xyz/entity/hovering-control-of-an-underwater-robot-with-tilting-thrusters-using-the-decomposition-and-compensation-method-based-on-