Actuator fault-tolerant control study of an underwater robot with four rotatable thrusters

Kadiyam, Jagadeesh; Parashar, Anjali; Mohan, Santhakumar; Deshmukh, Devendra

doi:10.1016/j.oceaneng.2020.106929

Cited by 45 publications

(10 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…the fault-tolerant control (FTC) is usually applied to alleviate abrupt errors and provides the most feasible solution when inevitable damages happen to the equipment in different fields [112]. However, the research regarding the FTC on underwater vehicles has not been thoroughly investigated due to the complexity brought by the underwater environment and the UUV system [113,114,115].…”

Section: Fault-tolerant Controlmentioning

confidence: 99%

Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

Zhu¹,

Yan²,

Yang³

2022

Intell Robot

View full text Add to dashboard Cite

The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been growing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system, UUV path planning, and UUV trajectory tracking. This paper provides a comprehensive review of conventional and intelligent technologies for motion planning and tracking control of UUVs. Analysis of the benefits and drawbacks of these various methodologies in literature is presented. In addition, the challenges and prospects of UUV motion planning and tracking control are provided as possible developments for future research.

show abstract

Section: Fault-tolerant Controlmentioning

confidence: 99%

Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

Zhu¹,

Yan²,

Yang³

2022

Intell Robot

View full text Add to dashboard Cite

show abstract

“…As an important part of AUV, the thruster directly determines the efficiency and safety with strong working intensity for AUV, However, the thruster fault usually happens in engineering practice [1,2]. Therefore, how to make thruster fault diagnosis and fault tolerant control for AUV is the premise for completing underwater missions [3,4].…”

Section: Introductionmentioning

confidence: 99%

Thruster Fault Diagnostics and Fault Tolerant Control for Autonomous Underwater Vehicle with Ocean Currents

et al. 2022

View full text Add to dashboard Cite

Autonomous underwater vehicle (AUV) is one of the most important exploration tools in the ocean underwater environment, whose movement is realized by the underwater thrusters, however, the thruster fault happens frequently in engineering practice. Ocean currents perturbations could produce noise for thruster fault diagnosis, in order to solve the thruster fault diagnostics, a possibilistic fuzzy C-means (PFCM) algorithm is proposed to realize the fault classification in this paper. On the basis of the results of fault diagnostics, a fuzzy control strategy is proposed to solve the fault tolerant control for AUV. Considering the uncertainty of ocean currents, it proposes a min-max robust optimization problem to optimize the fuzzy controller, which is solved by a cooperative particle swarm optimization (CPSO) algorithm. Simulation and underwater experiments are used to verify the accuracy and feasibility of the proposed method of thruster fault diagnostics and fault tolerant control.

show abstract

“…In the last decades, FTC problems of multi‐agent systems have been widely researched 17,18 . For FTC of single nonholonomic systems, research mainly focuses on under‐actuated systems 19,20 . Alikhani 21 investigated a passive FTC scheme for an under‐actuated re‐entry capsule.…”

Section: Introductionmentioning

confidence: 99%

“…17,18 For FTC of single nonholonomic systems, research mainly focuses on under-actuated systems. 19,20 Alikhani 21 investigated a passive FTC scheme for an under-actuated re-entry capsule. Zou 22 investigated the robust fault tolerant problem of under-actuated vertical takeoff and landing unmanned aerial vehicles subject to thrust and torque faults.…”

Section: Introductionmentioning

confidence: 99%

Fault tolerant consensus of multiple nonholonomic chained‐form systems with actuator and communication faults

Zhang

Yang

Jiang

2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article investigates the fault tolerant consensus problem of multiple nonholonomic chained‐form systems with both actuator and communication faults. The systems are enabled to follow a reference trajectory and realize practical consensus, by applying distributed reference state observers and robust adaptive fault tolerant control (FTC) strategies. The proposed state observers are robust to communication faults and can estimate the actual reference trajectory for each system. Based on such an observer, a robust adaptive FTC scheme is further provided to address actuator faults. A sine function is injected into the FTC law to relax the persistent excitation condition to avoid uncontrollability of the two‐input chained‐form system when one of reference control input tends to zero. Simulation result of wheeled mobile robots shows the effectiveness of proposed FTC methods.

show abstract

Actuator fault-tolerant control study of an underwater robot with four rotatable thrusters

Cited by 45 publications

References 19 publications

Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

Thruster Fault Diagnostics and Fault Tolerant Control for Autonomous Underwater Vehicle with Ocean Currents

Fault tolerant consensus of multiple nonholonomic chained‐form systems with actuator and communication faults

Contact Info

Product

Resources

About