Fault Tolerant Control for an Autonomous Underwater Vehicle to Dock with Thruster Redundancy

被引:0
|
作者
Liu Fuqiang [1 ]
Xu Demin [1 ]
Gao Jian [1 ]
Cui Rongxin [1 ]
机构
[1] Northwestern Polytech Univ, Sch Marine Engn, Xian 710072, Shaanxi, Peoples R China
关键词
Fault tolerant control (FTC); Autonomous underwater vehicle (AUV); Redundancy; Dubins curve; Path following; Docking; Quadratic programming (QP); ALLOCATION; AUV;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper investigates the fault tolerant control (FTC) for an autonomous underwater vehicle (AUV) with thruster redundancy while the AUV is commanded to dock into a station. A Dubins curve is predefined as an optimal docking path for the AUV to follow and a group of azimuth thrusters are equipped on the AUV to deal with the uncertain faults and failures occurred on the rudders and thrusters. Based on the vehicle kinematics and dynamics, a path-following controller with the optimized FTC input generated from the Quadratic Programming (QP) process is adopted to carry out the docking mission while any fault or failure occurs. Simulation of an AUV with four azimuth thrusters to dock shows that the FTC induces satisfactory docking result while faults occur on the rudders and thrusters.
引用
收藏
页码:6186 / 6190
页数:5
相关论文
共 50 条
  • [1] Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy
    Podder, TK
    Sarkar, N
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2001, 34 (01) : 39 - 52
  • [2] Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle
    Liu, Xing
    Zhang, Mingjun
    Yao, Feng
    OCEAN ENGINEERING, 2018, 155 : 10 - 23
  • [3] Thruster Fault Diagnostics and Fault Tolerant Control for Autonomous Underwater Vehicle with Ocean Currents
    Tian, Qunhong
    Wang, Tao
    Liu, Bing
    Ran, Guangtao
    MACHINES, 2022, 10 (07)
  • [4] Fault tolerant decomposition of thruster forces of an autonomous underwater vehicle
    Podder, TK
    Sarkar, N
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 84 - 89
  • [5] Fault Tolerant Control for Autonomous Underwater Vehicle
    Joshi, Sneha
    Talange, D. B.
    2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), 2014, : 658 - 662
  • [6] Fault-tolerant control of an autonomous underwater vehicle
    Perrault, D
    Nahon, M
    OCEANS'98 - CONFERENCE PROCEEDINGS, VOLS 1-3, 1998, : 820 - 824
  • [7] A fuzzy fault tolerant control scheme for an autonomous underwater vehicle
    Pearson, AR
    Sutton, R
    Burns, RS
    Robinson, P
    CONTROL APPLICATIONS IN MARINE SYSTEMS 2001 (CAMS 2001), 2002, : 425 - 430
  • [8] Sensor fault-tolerant control of an autonomous underwater vehicle
    Fang, Shao-Ji
    Wang, Li-Rong
    Zhu, Ji-Hua
    Pang, Yong-Jie
    Jiqiren/Robot, 2007, 29 (02): : 155 - 159
  • [9] Adaptive fault-tolerant control for an autonomous underwater vehicle
    Tabatabaee-Nasab, Fahimeh S.
    Moosavian, S. Ali A.
    Khalaji, Ali Keymasi
    ROBOTICA, 2022, 40 (11) : 4076 - 4089
  • [10] Finite-Time Extended State Observe Based Fault Tolerant Control for Autonomous Underwater Vehicle with Unknown Thruster Fault
    Liu, Xiaofeng
    Zhang, Mingjun
    Liu, Xing
    Zhao, Wende
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2022, 10 (11)