Title :
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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885775
