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

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dc.contributor.authorPascoal, António
dc.contributor.authorChaos García, Dictino
dc.contributor.authorMoreno Salinas, David
dc.contributor.authorAranda Almansa, Joaquín
dc.contributor.authorCerrada Collado, Cristina
dc.date.accessioned2024-05-20T11:35:25Z
dc.date.available2024-05-20T11:35:25Z
dc.date.issued2024
dc.description.abstractIn 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.es
dc.description.versionversión publicada
dc.identifier.doihttp://doi.org/10.1016/j.conengprac.2024.105883
dc.identifier.issn0967-0661
dc.identifier.urihttps://hdl.handle.net/20.500.14468/12270
dc.journal.titleControl Engineering Practice
dc.journal.volume146
dc.language.isoen
dc.publisherElsevier
dc.relation.centerE.T.S. de Ingeniería Informática
dc.relation.departmentInformática y Automática
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0
dc.subject.keywordsAUV
dc.subject.keywordsFault-tolerant control
dc.subject.keywordsOptimal control
dc.subject.keywordsFourier series
dc.subject.keywordsEnergy consumption
dc.subject.keywordsHoming
dc.titleAn energy efficient fault-tolerant controller for homing of underactuated AUVses
dc.typejournal articleen
dc.typeartículoes
dspace.entity.typePublication
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relation.isAuthorOfPublication.latestForDiscovery18d715ed-9aa0-4e6c-bb27-fb30fa2af05d
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