NDLI: Fault tolerant control of an autonomous underwater vehicle under thruster redundancy: simulations and experiments

Content Provider	IEEE Xplore Digital Library
Author	Podder, T.K. Antonelli, G. Sarkar, N.
Copyright Year	2000
Description	Author affiliation: Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA (Podder, T.K.)
Abstract	An approach to the allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated. Generally, the number of thrusters in an AUV is more than what is minimally required to produce the desired motion. We investigate how to exploit the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that takes into account the presence of excess number of thrusters along with any thruster faults and determines the reference thruster forces to produce the desired motion. These reference thruster forces are utilized in the thruster controller to generate the required motion. This approach resolves the thruster redundancy in the Cartesian space and allows the AUV to track the task-space trajectories with asymptotic reduction of the task-space errors. Results from both computer simulations and experiments are provided to demonstrate the viability of the proposed scheme. The paper is built upon the preliminary concept proposed earlier by Podder and Sarkar (1999).
Starting Page	1251
Ending Page	1256
File Size	614967
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844770
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault tolerance Underwater vehicles Redundancy Sliding mode control Fault detection Mechanical engineering Robots Remotely operated vehicles Vehicle dynamics Control systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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