A rapid reconfiguration strategy for UUV control

Author

Tong, Ge ; Jimao, Zhu

Author_Institution

Underwater Eng. Inst., Shanghai Jiaotong Univ., China

fYear

1998

fDate

15-17 Apr 1998

Firstpage

478

Lastpage

483

Abstract

A rapid reconfiguration strategy for underwater unmanned vehicle (UUV) control to accommodate the actuator faults is proposed. Detailed knowledge of the fault is not required when using the strategy and the controller is adjusted as long as the faults are located into a suitable element set. Thus, deviation from normal operation is prevented soon after the diagnosis process begins, and the performance of the UUV is recovered in stages with the diagnosis process advancing. The strategy is transformed into a robust model-following problem, and the mixed H ₂/H_∞ method is adopted. Both the design and simulation results show the effectiveness of the strategy proposed

Keywords

H^∞ control; closed loop systems; control system synthesis; fault diagnosis; marine systems; self-adjusting systems; H_∞ control; H₂ control; closed loop systems; fault diagnosis; model-following problem; rapid reconfiguration; reconfigurable control; underwater unmanned vehicle; Control system synthesis; Control systems; Fault detection; Fault diagnosis; Hydrogen; Noise measurement; Noise robustness; Process control; Robust control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology, 1998. Proceedings of the 1998 International Symposium on

Conference_Location

Tokyo

Print_ISBN

0-7803-4273-9

Type

conf

DOI

10.1109/UT.1998.670163

Filename

670163