Adaptive fault-tolerant attitude control for a CMG-based underwater vehicle

被引:5
|
作者
Xu, Ruikun [1 ]
Tang, Guoyuan [1 ,2 ]
Huang, Daomin [3 ]
Xie, De [1 ,2 ]
Han, Lijun [1 ]
机构
[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China
[2] Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China
[3] Air Force Early Warning Acad, Wuhan 430019, Hubei, Peoples R China
基金
中国国家自然科学基金;
关键词
Underwater vehicle control; Control moment gyros; Attitude control; Fault-tolerant control; Adaptive control; SPACECRAFT;
D O I
10.1007/s00773-019-00681-w
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper proposes a fault-tolerant control strategy for the attitude control problem of a CMG-based underwater vehicle based on the adaptive sliding mode control method and Lyapunov stability theory. First, a fault-tolerant control model is presented for the quaternion-based attitude kinematic equations combined with a pyramid control moment gyroscope (CMG) system. Second, considering the momentum singularity and input saturation constraint problem, adaptive control method is inspired to estimate the model uncertainties and actuator failures under some basic assumptions. Subsequently, the proposed controller is derived from backstepping-based design techniques and its feasibility is complemented by the remarks. Finally, its efficiency and robustness are illustrated in simulation results to against the uncertainties and disturbances.
引用
收藏
页码:800 / 807
页数:8
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