The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Actuator Failure Tolerant Control Design for Underwater Remotely Operated Vehicles

Maria Letizia Corradini
Dipartimento di Matematica e Informatica, Universita' di Camerino, Italy
Italy

Andrea Monteriu'
Dipartimento di Ingegneria Informatica, Gestionale e dell'Automazione, Universita' Politecnica delle Marche, Ancona, Italy
Italy

Giuseppe Orlando
Dipartimento di Ingegneria Informatica, Gestionale e dell'Automazione, Universita' Politecnica delle Marche, Ancona, Italy
Italy

Abstract:
This paper proposes an actuator fault-tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied to an underwater remotely operated vehicle (ROV) used for inspection purposes. Detection is in charge of a residual generation module, while a sliding-mode based approach has been used both for ROV control and fault detection, after the application of an input decoupling nonlinear state transformation to the ROV model. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been also performed, supporting the effectiveness of the proposed approach.

 

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