Automatic fault detection and execution monitoring for AUV missions

Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents

“…In most of the above-mentioned references, it is worth noting that it is assumed that the FDD module can detect, isolate and identify thruster fault immediately and accurately. However, in the environment with time-varying ocean current, it is difficult to distinguish the case where the thruster is impaired or entangled from the case where the vehicle is operating against a strong current, sometimes false alarm or undetected faults may occur [11,12]. In this case, the kind of fault tolerant controller would degrade the tracking performance, and even deteriorate the stability of underwater vehicles.…”

“…The nonsingular terminal sliding manifold is design as Eq. (12). Thruster fault can be accommodated without the FDD module and the tracking error could approach zero in finite time if the control law is expressed as Eq.…”

Sensor fault detection and isolation of an autonomous underwater vehicle using partial kernel PCA

“…where θ q = N i=d+1 λ q i for q = 1, 2, 3 and λ i , i = d+1, ..., N , are the removed principal components, h 0 = 1− (2θ 1 θ 3 /3θ 2 2 ), and c δ is the standard normal for the confidence level δ.…”

“…Autonomous underwater vehicle (AUV) is a type of UUVs which operates without human interactions and hence it is suitable for a wide range of marine missions such as collecting data from the deep oceans. As AUVs become more common, and in particular as their missions become more challenging and take place in less well-known environments, improving the reliability of these vehicles becomes more crucial [2]. Therefore, design and development of fault diagnosis (FD) 978-1-4799-1894-2/15/$31.00 c 2015 IEEE schemes are highly essential and vital in the field of AUV research.…”

Simultaneous fault detection and control design for an autonomous unmanned underwater vehicle

“…As AUVs become more common, and in particular as missions become more challenging and take place in less well-known environments, improving the reliability of the vehicle becomes more crucial [1]. Therefore, design of fault diagnosis (FD) and fault-tolerant control (FTC) systems become one of the critical technologies in the eld of AUV research.…”