DocumentCode :
2993602
Title :
Study on simultaneous Fault Tolerant Control of AUV thrusters
Author :
Yang, Li-ping ; Zhang, Ming-Jun ; Wang, Yu-jia ; Wu, Juan
Author_Institution :
Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin
fYear :
2008
fDate :
1-3 Sept. 2008
Firstpage :
105
Lastpage :
110
Abstract :
Fault tolerant control (FTC) is one of the key technologies of autonomous underwater vehicle (AUV). Based on the thruster fault description and the generic model control(GMC) method , an active fault-tolerant control method is presented to adapt the condition of the deficient thrust fault for multiple thrusters. Having researched the description style of the thruster faults of the additive faults and the multiplicative faults, the fault state expression is described while multiple thrusters appear the additive and multiplicative faults simultaneously. An online reconfiguration method is presented, by multiplying the multiplicative fault function and adding the additive fault term. Finally, a fault diagnosis and tolerant control system for multiple thrusters simultaneous faults was designed. The pool experiment results of the AUV experiment platform show that the thrust deficiency fault-tolerant control method is effective to deal with the simultaneous fault of AUV thrusters.
Keywords :
fault tolerance; remotely operated vehicles; underwater vehicles; autonomous underwater vehicle; fault tolerant control; generic model control; multiple thrusters; Actuators; Adaptive control; Fault diagnosis; Fault tolerance; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control; Underwater vehicles; Vectors; Autonomous underwater vehicle; Fault-tolerant; GMC; Simultaneous faults; Thrust deficiency;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
Type :
conf
DOI :
10.1109/ICAL.2008.4636129
Filename :
4636129
Link To Document :
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