Fault tolerant control for Autonomous Underwater Vehicle

Author

Joshi, S. ; Talange, D.B.

Author_Institution

Dept. of Electr. Eng., Coll. of Eng., Pune, Pune, India

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

658

Lastpage

662

Abstract

Here active fault tolerant control is proposed for Autonomous Underwater Vehicle (AUV). When fault occurs system performance degrades and is used as reference model to design reconfigurable controller to prevent saturation of actuator in AUV. The dynamics of AUV will follow new reference model after fault occurs. The proposed method is simulated using PID controller on REMUS-100 AUV model under limiting conditions.

Keywords

autonomous underwater vehicles; fault tolerant control; mobile robots; robot dynamics; three-term control; AUV dynamics; PID controller; REMUS-100 AUV model; autonomous underwater vehicle; fault tolerant control; reconfigurable controller; Actuators; Fault tolerance; Fault tolerant systems; Mathematical model; Steady-state; Vehicle dynamics; AUV; Actuator; FTC; PID; command; degraded; etc;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885775

Filename

6885775

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1791987