Title :
A strategy for thruster fault-tolerant control applied to an AUV
Author :
Rauber, Jeremy G. ; Santos, Carlos H F dos ; Chiella, Antonio C B ; Motta, Lucas R H
Author_Institution :
Group of Robot. Res. (GPR), Western Parana State Univ. (UNIOESTE), Foz do Iguacu, Brazil
Abstract :
In this article we discuss the dynamic modelling of the propulsion system of an autonomous underwater vehicle (AUV), and also a method of fault tolerant control in an AUV that has four vertical and two horizontal thrusters. Firstly we made an analysis of the dynamic and kinematic effects of the vehicle, subsequently we did an analysis of dynamic propulsion system and then found out the state of the art of the underwater vehicle. Through a series of simulations, it was validated our propulsion model system and its efficiency of the fault tolerant control working in conjunction with the purpose of the vehicle to follow a desired path even when some thrusters is faulty.
Keywords :
autonomous underwater vehicles; fault tolerance; marine propulsion; mobile robots; robot dynamics; vehicle dynamics; AUV; autonomous underwater vehicle; dynamic modelling; dynamic propulsion system; propulsion model system; thruster fault-tolerant control; vehicle dynamic effects; vehicle kinematic effects; Equations; Fault tolerance; Fault tolerant systems; Force; Propellers; Vehicle dynamics; Vehicles;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347891
