Supplementary for "Addressing Actuator Saturation during Fault Compensation in Model-Based Underwater Vehicle Control"

The supplementary files contain a MATLAB R2022b archived project file "SatTolCtrl_2023.mlproj" that includes the entire simulation used in generating the results presented in our paper, as well as scripts for used in generating the figures from the saved simulation results. 

A set of .csv files have also been included to provide access to the simulation results data without the need for MATLAB. These files contain the timeseries actuator outputs "Acts", desired states "eta_d", and actual states "eta" for the simulations under different actuator faults ("aft50","surf25","clean") using the baseline "b" and proposed "p" controllers.