2015
DOI: 10.1007/s12555-014-0317-8
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An adaptive fault-tolerant robust controller with fault diagnosis for submarine’s vertical movement

Abstract: In this paper, an integrated design of fault diagnosis and adaptive fault-tolerant robust control for a submarine with bow and stern plane faults is proposed. Considering the disturbance coming from waves when a submarine operates near sea surface, a simplified linear system of submarine's vertical movement with both wave disturbance and bow and stern plane faults is presented. An unknown input observer is designed to decouple the wave disturbance and the bow and stern plane faults. Then a fault parameter trac… Show more

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Cited by 7 publications
(1 citation statement)
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“…At present, there have been a large number of FTC schemes. In the FTC literature, different approaches have been reported, such as robust FTC presented in [20], adaptive FTC designed in [21,22], nonlinear FTC proposed in [23], and sliding mode FTC proposed in [24,25]. However, there are not many FTC schemes for manipulator.…”
Section: Introductionmentioning
confidence: 99%
“…At present, there have been a large number of FTC schemes. In the FTC literature, different approaches have been reported, such as robust FTC presented in [20], adaptive FTC designed in [21,22], nonlinear FTC proposed in [23], and sliding mode FTC proposed in [24,25]. However, there are not many FTC schemes for manipulator.…”
Section: Introductionmentioning
confidence: 99%