Title :
A model-based approach to fault diagnosis in unmanned underwater vehicles
Author :
Alessandri, A. ; Caccia, M. ; Veruggio, G.
Author_Institution :
Naval Autom. Inst., CNR, Genova, Italy
fDate :
28 Sep-1 Oct 1998
Abstract :
Actuator faults have been considered using an approximate model of the vehicle dynamics. Fault diagnosis is accomplished by means of a bank of estimators: a filter is implemented for each actuator´s fault type, including the no-fault case. The estimators are extended Kalman filters due to the presence of nonlinearities in the dynamic models. Experimental results are reported to demonstrate the effectiveness of the proposed approach
Keywords :
Kalman filters; actuators; dynamics; fault diagnosis; underwater vehicles; Kalman filters; actuator faults; dynamics; fault diagnosis; model-based method; unmanned underwater vehicles; Actuators; Automation; Councils; Fault detection; Fault diagnosis; Mathematical model; Parameter estimation; Power system modeling; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS '98 Conference Proceedings
Conference_Location :
Nice
Print_ISBN :
0-7803-5045-6
DOI :
10.1109/OCEANS.1998.724353
