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An Active Fault-Tolerant Control Method Ofunmanned Underwater Vehicles with Continuous and Uncertain Faults

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Author(s): Daqi Zhu | Qian Liu | Yongsheng Yang

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 5;
Issue: 4;
Date: 2008;
Original page

Keywords: Fault diagnosis; Fault-tolerant control; Underwater Vehicles; Thruster; Biomimetic;

ABSTRACT
This paper introduces a novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with abrupt faults. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC(Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse to find the solution of the control allocation problem. To illustrate the proposed method effective, simulation example, under multi-uncertain abrupt faults, is given in the paper.
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