DocumentCode
2078019
Title
A model-based approach to fault diagnosis in unmanned underwater vehicles
Author
Alessandri, A. ; Caccia, M. ; Veruggio, G.
Author_Institution
Naval Autom. Inst., CNR, Genova, Italy
Volume
2
fYear
1998
fDate
28 Sep-1 Oct 1998
Firstpage
825
Abstract
Actuator faults have been considered using an approximate model of the vehicle dynamics. Fault diagnosis is accomplished by means of a bank of estimators: a filter is implemented for each actuator´s fault type, including the no-fault case. The estimators are extended Kalman filters due to the presence of nonlinearities in the dynamic models. Experimental results are reported to demonstrate the effectiveness of the proposed approach
Keywords
Kalman filters; actuators; dynamics; fault diagnosis; underwater vehicles; Kalman filters; actuator faults; dynamics; fault diagnosis; model-based method; unmanned underwater vehicles; Actuators; Automation; Councils; Fault detection; Fault diagnosis; Mathematical model; Parameter estimation; Power system modeling; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '98 Conference Proceedings
Conference_Location
Nice
Print_ISBN
0-7803-5045-6
Type
conf
DOI
10.1109/OCEANS.1998.724353
Filename
724353
Link To Document