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Technical Brief

A Robust Observer-Based Fault Tolerant Control Scheme for Underwater Vehicles

[+] Author and Article Information
Maria Letizia Corradini

Scuola di Scienze e Tecnologie,
Università di Camerino,
Camerino, Italy
e-mail: letizia.corradini@unicam.it

Giuseppe Orlando

Dipartimento di Ingegneria dell'Informazione,
Università Politecnica delle Marche,
Ancona, Italy
e-mail: giuseppe.orlando@univpm.it

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 11, 2012; final manuscript received December 6, 2013; published online February 19, 2014. Assoc. Editor: Yang Shi.

J. Dyn. Sys., Meas., Control 136(3), 034504 (Feb 19, 2014) (11 pages) Paper No: DS-12-1416; doi: 10.1115/1.4026328 History: Received December 11, 2012; Revised December 06, 2013

This paper proposes an actuator failure tolerant robust control scheme for underwater vehicles. A state observer is introduced first, aimed at estimating velocities. In order to solve the tracking problem for vehicle positions, a sliding mode control (SMC) law is developed using the available position measurements and the velocity estimates provided by the observer. Detection of thruster faults based on the check of any deviation of the observed sliding surfaces, and an isolation policy for the failed thruster are proposed. Finally, control reconfiguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been performed, supporting the effectiveness of the proposed approach.

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Figures

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ROV operational configuration

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Abrupt fault: tracking errors

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Abrupt fault: thrusters

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Fig. 4

Abrupt fault: observation errors

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Fig. 5

Abrupt fault: sliding surfaces

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Reduction of effectiveness: tracking errors

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Reduction of effectiveness: thrusters

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Reduction of effectiveness: observation errors

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Reduction of effectiveness: sliding surfaces

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