Paper Info
Title
An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle
Abstract
This paper proposes an actuator fault-tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied to an underwater remotely operated vehicle (ROV) used for inspection purposes. Detection is in charge of a residual generation module, while a sliding-mode-based approach has been used both for ROV control and fault isolation, after the application of an input decoupling nonlinear state transformation to the ROV model. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been also performed, supporting the effectiveness of the proposed approach.
Year
DOI
Venue
2011
10.1109/TCST.2010.2060199
Control Systems Technology, IEEE Transactions
Keywords
Field
DocType
actuators,fault diagnosis,fault tolerance,mobile robots,nonlinear control systems,remotely operated vehicles,underwater vehicles,variable structure systems,ROV control,actuator failure tolerant control scheme,fault isolation,input decoupling nonlinear state transformation,inspection purposes,nonlinear systems,residual generation module,sliding-mode-based approach,underwater remotely operated vehicle,Fault detection,fault isolation,fault tolerant control,sliding mode control,underwater vehicles
Remotely operated underwater vehicle,Fault detection and isolation,Control theory,Control engineering,Redundancy (engineering),Fault tolerance,Engineering,Control reconfiguration,Sliding mode control,Remotely operated vehicle,Actuator
Journal
Volume
Issue
ISSN
19
5
1063-6536
Citations 
PageRank 
References 
5
0.47
11
Authors
3
Name
Order
Citations
PageRank
Maria Letizia Corradini128130.10
Monteriù, A.250.47
Giuseppe Orlando334234.74