This paper proposes an actuator failure tolerant robust control scheme for underwater Remotely Operated Vehicles (ROVs). A reduced order observer has been introduced for estimating the ROV velocities and a sliding mode control law has been developed using the available position measurements and the velocity estimates provided by the observer to achieve output regulation. A thruster failure is shown to be detectable simply checking the presence of any deviation of the observed sliding surfaces. Moreover, an isolation policy for the failed thruster is proposed. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators with the implementation of an adaptive input allocation architecture. An extensive simulation study has been performed, supporting the effectiveness of the proposed approach. © 2016

A nonlinear fault-tolerant thruster allocation architecture for underwater remotely operated vehicles / Corradini, Maria Letizia; Cristofaro, Andrea. - 49:3(2016), pp. 285-290. (Intervento presentato al convegno 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016) tenutosi a Trondheim; Norway) [10.1016/j.ifacol.2016.10.356].

A nonlinear fault-tolerant thruster allocation architecture for underwater remotely operated vehicles

CRISTOFARO, ANDREA
2016

Abstract

This paper proposes an actuator failure tolerant robust control scheme for underwater Remotely Operated Vehicles (ROVs). A reduced order observer has been introduced for estimating the ROV velocities and a sliding mode control law has been developed using the available position measurements and the velocity estimates provided by the observer to achieve output regulation. A thruster failure is shown to be detectable simply checking the presence of any deviation of the observed sliding surfaces. Moreover, an isolation policy for the failed thruster is proposed. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators with the implementation of an adaptive input allocation architecture. An extensive simulation study has been performed, supporting the effectiveness of the proposed approach. © 2016
2016
10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016)
Electric vehicles; Vehicle wheels; Thrust allocation
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A nonlinear fault-tolerant thruster allocation architecture for underwater remotely operated vehicles / Corradini, Maria Letizia; Cristofaro, Andrea. - 49:3(2016), pp. 285-290. (Intervento presentato al convegno 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016) tenutosi a Trondheim; Norway) [10.1016/j.ifacol.2016.10.356].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1329799
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