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Fault-Tolerant Control for AUVs Using a Single Thruster

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dc.contributor.authorChaos García, Dictino
dc.contributor.authorMoreno Salinas, David
dc.contributor.authorAranda Almansa, Joaquín
dc.date.accessioned2024-11-26T10:29:41Z
dc.date.available2024-11-26T10:29:41Z
dc.date.issued2022-02
dc.descriptionThe 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
dc.description.abstractThe 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.en
dc.description.versionversión publicada
dc.identifier.citationD. 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
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2022.3152190
dc.identifier.issn2169-3536
dc.identifier.urihttps://hdl.handle.net/20.500.14468/24528
dc.journal.titleIEEE Access
dc.journal.volume10
dc.language.isoen
dc.page.final22139
dc.page.initial22123
dc.publisherIEEE
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/4.0/deed.es
dc.subject12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
dc.subject.keywordsAttitude controlen
dc.subject.keywordsFault tolerant systemsen
dc.subject.keywordsFault toleranceen
dc.subject.keywordsActuatorsen
dc.subject.keywordsVehicle dynamicsen
dc.subject.keywordsAdaptation modelsen
dc.subject.keywordsFault diagnosisen
dc.titleFault-Tolerant Control for AUVs Using a Single Thrusteren
dc.typeartículoes
dc.typejournal articleen
dspace.entity.typePublication
relation.isAuthorOfPublication18d715ed-9aa0-4e6c-bb27-fb30fa2af05d
relation.isAuthorOfPublicationcda6ce3d-ab73-4c9e-891f-543c04d8d53b
relation.isAuthorOfPublication3c2f82d3-b350-435d-9954-9321ab17ea9b
relation.isAuthorOfPublication.latestForDiscovery18d715ed-9aa0-4e6c-bb27-fb30fa2af05d
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