Fault-tolerant Control of Unmanned Underwater Vehicles with Continuous Faults: Simulations and Experiments | Zendy

Qian Liu | Zendy; Daqi Zhu | Zendy

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Fault-tolerant Control of Unmanned Underwater Vehicles with Continuous Faults: Simulations and Experiments

Author(s) -

Qian Liu,

Daqi Zhu

Publication year - 2009

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/7244

Subject(s) - computer science , fault (geology) , identification (biology) , unmanned underwater vehicle , underwater , accommodation , artificial neural network , fault tolerance , control theory (sociology) , frame (networking) , real time computing , control engineering , control (management) , artificial intelligence , engineering , distributed computing , telecommunications , oceanography , botany , neuroscience , seismology , biology , geology

A novel thruster fault diagnosis and accommodation method for open-frame underwater vehicles is presented in the paper. The proposed system consists of two units: a fault diagnosis unit and a fault accommodation unit. In the fault diagnosis unit an ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network information fusion model is used to realize the fault identification of the thruster. The fault accommodation unit is based on direct calculations of moment and the result of fault identification is used to find the solution of the control allocation problem. The approach resolves the continuous faulty identification of the UV. Results from the experiment are provided to illustrate the performance of the proposed method in uncertain continuous faulty situation

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