An energy efficient fault-tolerant controller for homing of underactuated AUVs

Cerrada, Cerrada, Chaos, Dictino, Moreno-Salinas, David, Pascoal, António y Aranda, Joaquín . (2024) An energy efficient fault-tolerant controller for homing of underactuated AUVs. Control Engineering Practice

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Título An energy efficient fault-tolerant controller for homing of underactuated AUVs
Autor(es) Cerrada, Cerrada
Chaos, Dictino
Moreno-Salinas, David
Pascoal, António
Aranda, Joaquín
Materia(s) Informática
Resumen In the event of a failure that will prevent an Autonomous Underwater Vehicle (AUV) from executing a specified task, the vehicle must be recovered safely to avoid further damage to itself or to other vehicles/agents in the neighbourhood. Motivated by this operational requirement, this work presents an optimal fault-tolerant controller to drive an underactuated AUV to a recovery point (so-called automatic homing manoeuvre). The case of a critical failure that leaves only one of two stern thrusters available to drive it to the desired recovery area is considered. The control law proposed relies on the use of a Fourier series-based strategy to compute the control action as a function of the relative orientation of the vehicle with respect to the target recovery point. Energy consumption is also considered in the proposed control law, so that an appropriate trade-off can be achieved between reaching the destination faster and reducing the energy consumed as a function of mission requirements and vehicle specifications. The stability and convergence of the proposed scheme are demonstrated analytically, a comparison with MPC scheme is shown and simulation examples illustrate how the control law effectively drives the vehicle to a neighbourhood of the desired target point even in the presence of unknown constant currents.
Palabras clave AUV
Fault-tolerant control
Optimal control
Fourier series
Energy consumption
Homing
Editor(es) Elsevier
Fecha 2024
Formato application/pdf
Identificador bibliuned:557-Ccerrada-0002
http://e-spacio.uned.es/fez/view/bibliuned:557-Ccerrada-0002
DOI - identifier hhtps://doi.org/10.1016/j.conengprac.2024.105883
ISSN - identifier 0967-0661
Nombre de la revista Control Engineering Practice
Número de Volumen 146
Publicado en la Revista Control Engineering Practice
Idioma eng
Versión de la publicación publishedVersion
Tipo de recurso Article
Derechos de acceso y licencia http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
Tipo de acceso Acceso abierto
Notas adicionales La versión registrada de este artículo, publicado por primera vez en Control Engineering Practice, está disponible en línea en el sitio web del editor: Elsevier hhtps://doi.org/10.1016/j.conengprac.2024.105883
Notas adicionales The registered version of this article, first published in Control Engineering Practice, is available online at the publisher's website: Elsevier hhtps://doi.org/10.1016/j.conengprac.2024.105883

 
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Creado: Tue, 27 Feb 2024, 22:40:14 CET