# Novel barrier Lyapunov function-based backstepping fault tolerant control system for an ROV with thruster constraints

> Research article (Ocean Engineering, 2023) · cited 23× · AI/ML

**Wikidata**: [openalex:W4383811908](https://www.wikidata.org/wiki/openalex:W4383811908)  
**Source**: https://4ort.xyz/entity/novel-barrier-lyapunov-function-based-backstepping-fault-tolerant-control-system-for-an-rov-with-thruster-constraints