Publicación: Fault-Tolerant Control for AUVs Using a Single Thruster
Fecha
2022-02
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Derechos de acceso
info:eu-repo/semantics/openAccess
Título de la revista
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Título del volumen
Editor
IEEE
Resumen
The present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direction and reach a safe target point. In addition, the AUV is commanded with only two control actions on the available thruster, driving the vehicle through the desired direction following a spiral-like path and keeping it within the neighbourhood of the target point. The fault-tolerant control proposed is simple and robust enough to be applied to multiple kinds of AUVs without the need of accurate parameter design. The stability and well performance of the control scheme proposed is analytically demonstrated, and simulation examples illustrate the key results derived.
Descripción
The registered version of this article, first published in “IEEE Access, vol. 10", is available online at the publisher's website: IEEE, https://doi.org/10.1109/ACCESS.2022.3152190
La versión registrada de este artículo, publicado por primera vez en “IEEE Access, vol. 10", está disponible en línea en el sitio web del editor: IEEE, https://doi.org/10.1109/ACCESS.2022.3152190
Categorías UNESCO
Palabras clave
Attitude control, Fault tolerant systems, Fault tolerance, Actuators, Vehicle dynamics, Adaptation models, Fault diagnosis
Citación
D. Chaos, D. Moreno-Salinas and J. Aranda, "Fault-Tolerant Control for AUVs Using a Single Thruster," in IEEE Access, vol. 10, pp. 22123-22139, 2022, doi: 10.1109/ACCESS.2022.3152190
Centro
E.T.S. de Ingeniería Informática
Departamento
Informática y Automática