A strategy for thruster fault-tolerant control applied to an AUV

Author

Rauber, Jeremy G. ; Santos, Carlos H F dos ; Chiella, Antonio C B ; Motta, Lucas R H

Author_Institution

Group of Robot. Res. (GPR), Western Parana State Univ. (UNIOESTE), Foz do Iguacu, Brazil

fYear

2012

fDate

27-30 Aug. 2012

Firstpage

184

Lastpage

189

Abstract

In this article we discuss the dynamic modelling of the propulsion system of an autonomous underwater vehicle (AUV), and also a method of fault tolerant control in an AUV that has four vertical and two horizontal thrusters. Firstly we made an analysis of the dynamic and kinematic effects of the vehicle, subsequently we did an analysis of dynamic propulsion system and then found out the state of the art of the underwater vehicle. Through a series of simulations, it was validated our propulsion model system and its efficiency of the fault tolerant control working in conjunction with the purpose of the vehicle to follow a desired path even when some thrusters is faulty.

Keywords

autonomous underwater vehicles; fault tolerance; marine propulsion; mobile robots; robot dynamics; vehicle dynamics; AUV; autonomous underwater vehicle; dynamic modelling; dynamic propulsion system; propulsion model system; thruster fault-tolerant control; vehicle dynamic effects; vehicle kinematic effects; Equations; Fault tolerance; Fault tolerant systems; Force; Propellers; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on

Conference_Location

Miedzyzdrojie

Print_ISBN

978-1-4673-2121-1

Type

conf

DOI

10.1109/MMAR.2012.6347891

Filename

6347891