DocumentCode :
1727817
Title :
Fault tolerant control for an autonomous underwater vehicle to dock with thruster redundancy
Author :
Liu Fuqiang ; Xu Demin ; Gao Jian ; Cui Rongxin
Author_Institution :
Sch. of Marine Eng., Northwestern Polytech. Univ., Xi´an, China
fYear :
2013
Firstpage :
6186
Lastpage :
6190
Abstract :
This paper investigates the fault tolerant control (FTC) for an autonomous underwater vehicle (AUV) with thruster redundancy while the AUV is commanded to dock into a station. A Dubins curve is predefined as an optimal docking path for the AUV to follow and a group of azimuth thrusters are equipped on the AUV to deal with the uncertain faults and failures occurred on the rudders and thrusters. Based on the vehicle kinematics and dynamics, a path-following controller with the optimized FTC input generated from the Quadratic Programming (QP) process is adopted to carry out the docking mission while any fault or failure occurs. Simulation of an AUV with four azimuth thrusters to dock shows that the FTC induces satisfactory docking result while faults occur on the rudders and thrusters.
Keywords :
autonomous underwater vehicles; curve fitting; fault tolerance; position control; quadratic programming; robot dynamics; robot kinematics; AUV; Dubins curve; FTC; autonomous underwater vehicle; azimuth thruster; fault tolerant control; optimal docking path; path-following controller; quadratic programming; rudders; thruster redundancy; vehicle dynamics; vehicle kinematics; Azimuth; Fault tolerant systems; Kinematics; Redundancy; Underwater vehicles; Vectors; Autonomous underwater vehicle (AUV); Docking; Dubins curve; Fault tolerant control (FTC); Path following; Quadratic programming (QP); Redundancy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
Type :
conf
Filename :
6640521
Link To Document :
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