The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years. since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder. Aiming at the fault-tolerant control of the X-rudder AUV (hereinafter abbreviated as xAUV). a fault-tolerant steering prototype system which can realize dy... https://thesportsshopkingswinfordes.shop/product-category/shopstorm_hidden_product/