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.

Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.


Kim, D., Lee, H., Kim, M. H., Lee, S.-Y., and Kim, T.-Y., 2012, “Robust Sampled-Data Fuzzy Control of Nonlinear Systems With Parametric Uncertainties: Its Application to Depth Control of Autonomous Underwater Vehicles,” Int. J. Control, Autom. Syst., 10, pp. 1164–1172. [CrossRef]
Refsnes, J., Soresen, A. J., and Pettersen, K., 2007, “A 6 DOF Nonlinear Observer for AUVs With Experimental Results,” Proceedings of 2007 Mediterranean Conference on Control and Automation (MED2007), Athens, Greece, June 27–29, pp. 313–319. [CrossRef]
RongXin, C., WeiSheng, Y., and DeMin, X., 2012, “Synchronization of Multiple Autonomous Underwater Vehicles Without Velocity Measurements,” Sci. China Inf. Sci., 55, pp. 1693–1703. [CrossRef]
Li, Z., Yang, C., Ding, N., Bogdan, S., and Ge, T., 2012, “Robust Adaptive Motion Control for Underwater Remotely Operated Vehicles With Velocity Constraints,” Int. J. Control, Autom., Syst., 10, pp. 421–429. [CrossRef]
Freddi, A., Longhi, S., and Monteriu, A., 2012, “A Diagnostic Thau Observer for a Class of Unmanned Vehicles,” J. Intell. Robot. Syst., 67, pp. 61–73. [CrossRef]
Rongxin, C., Shuzhi, S. G., How, B. V. E., and Choo, Y. S., 2010, “Leader-Follower Formation Control of Underactuated Autonomous Underwater Vehicles,” Ocean Eng., 37, pp. 1491–1502. [CrossRef]
Refsnes, J., Soresen, A. J., and Pettersen, K., 2005, “Design of Output Feedback Control Systems for High Speed Maneuvering of an Underwater Vehicle,” MTS/IEEE OCEANS, Washington, DC, September 17–23. [CrossRef]
Refsnes, J., Soresen, A. J., and Pettersen, K., 2008, “Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments,” IEEE Trans. Control Syst. Technol., 16(5), pp. 930–946. [CrossRef]
Fossen, T., 1994, Guidance and Control of Ocean Vehicles, John Wiley & Sons, New York.
Sarkar, N., Podder, T., and Antonelli, G., 2002, “Fault-Accommodating Thruster Force Allocation of an AUV Considering Thruster Redundancy and Saturation,” IEEE Trans. Robot. Autom., 18(2), pp. 223–233. [CrossRef]
Isermann, R., and Ballé, P., 1997, “Trends in the Application of Model-Based Fault Detection and Diagnosis of Technical Processes,” Control Eng. Pract., 5(5), pp. 709–719. [CrossRef]
Isermann, R., 1997, “Supervision, Fault-Detection, and Fault-Diagnosis Methods—An Introduction,” Control Eng. Pract., 5, pp. 639–652. [CrossRef]
Chen, J., Patton, R. J., and Zhang, H., 1996, “Design of Unknown Input Observers and Robust Fault Detection Filters,” Int. J. Control, 63(1), pp. 85–105. [CrossRef]
Patton, R. J., and Chen, J., 1991. “A Review of Parity Space Approaches to Fault Diagnosis,” IFAC/IMACS Symposium (Safeprocess '91), Baden-Baden, Germany, September 10–13.
Isermann, R., 1987, “Experiences With Process Fault Detection Methods Via Parameter Estimation. System Fault Diagnostics Reliability and Related Knowledge-Based Approaches,” System Fault Diagnostics, Reliability and Related Knowledge-Based Approaches, S. Tsafestas, M. Singh, and G. Schmidt, eds. Springer, Netherlands, pp. 35–98.
Isermann, R., 1989, “Process Fault Diagnosis Bases on Dynamic Models and Parameter Estimation Methods,” Fault Diagnosis in Dynamic Systems: Theory and Applications, R. J. Patton, P. M. Frank, and R. N. Clarke, eds., Prentice-Hall, Englewood Cliffs, N.J., Chap. VII.
Frank, P. M., 1987, “Fault Diagnosis in Dynamic Systems Via State Estimation: A Survey. System Fault Diagnostics Reliability and Related Knowledge-Based Approaches,” System Fault Diagnostics, Reliability and Related Knowledge-Based Approaches, S. Tsafestas, M. Singh, and G. Schmidt, eds., Springer, The Netherlands, Chap. I.
Frank, P. M., 1990, “Fault Diagnosis in Dynamic Systems Using Analytical and Knowledge-Based Redundancy—A Survey and Some New Results,” Automatica, 26(3), pp. 459–474. [CrossRef]
Patton, R. J., Frank, P. M., and Clark, R. N., eds., 2000, Issues of Fault Diagnosis for Dynamic Systems, Springer-Verlag, New York.
Staroswiecki, M., and Declerck, P., 1989, “Analytical Redundancy in Nonlinear Interconnected Systems by Means of Structural Analysis,” IFAC/IMACS/IFORS Symposium on Advanced Information Processing in Automatic Control (AIPAC '89), Nancy, France, July 3–5, pp. 51–55.
Declerck, P., and Staroswiecki, M., 1991, “Characterization of the Canonical Components of a Structural Graph for Fault Detection in Large Scale Industrial Plants,” Proceedings of European Control Conference (ECC’91), Greoble, France, July 2–5, pp. 298–303.
Blanke, M., Kinnaert, M., Lunze, J., and Starosweicki, M., 2003, Diagnosis and Fault-Tolerant Control, Springer–Verlag, Berlin.
Blanke, M., Niemann, H., and Lorentzen, T., 2003, “Structural Analysis—A Case Study of the Rømer Satellite,” IFAC Safeprocess 2003, Washington, DC, June 9–11.
Cocquempot, V., Izadi-Zamanabadi, R., Staroswiecki, M., and Blanke, M., 1998, “Residual Generation for the Ship Benchmark Using Structural Approach,” UKACC International Conference onControl '98, Swansea, UK, September 1–4, pp. 1480–1485. [CrossRef]
Izadi-Zamanabadi, R., and Blanke, M., 1997, “A Ship Propulsion System as a Benchmark for Fault Tolerant Control,” Proceedings of IFAC Safeprocess 97, Kingston Upon Hull, UK, August 26–28, pp. 1074–1082.
Tao, G., Chen, S., and Joshi, S., 2002, “An Adaptive Actuator Failure Compensation Controller Using Output Feedback,” IEEE Trans. Autom. Control, AC-47(3), pp. 506–511. [CrossRef]
Tao, G., Chen, S., and Joshi, S., 2002, “An Adaptive Control Scheme for Systems With Unknown Actuator Failures,” Automatica, 38(6), pp. 1027–1034. [CrossRef]
Tao, G., Joshi, S., and Ma, X., 2001, “Adaptive State Feedback and Tracking Control of Systems With Actuator Failures,” IEEE Trans. Autom. Control, AC-46(1), pp. 78–95. [CrossRef]
Wang, H., Huang, Z., and Daley, S., 1997, “On the Use of Adaptive Updating Rules for Actuator and Sensor Fault Diagnosis,” Automatica, 33, pp. 217–225. [CrossRef]
Zhang, X., Parisini, T., and Polycarpou, M., 2004, “Adaptive Fault-Tolerant Control of Nonlinear Uncertain Systems: An Information Based Diagnostic Approach,” IEEE Trans. Autom. Control, AC-49(8), pp. 1259–1274. [CrossRef]
Brinker, J., and Wise, K., 1998, “Reconfigurable Flight Control for Tailless Advanced Fighter Aircraft,” AIAA Guidance, Navigation, and Control Conference and Exhibit, Boston, MA, August 10–12, AIAA Paper No. 98-4107. [CrossRef]
Boskovic, J., and Mehra, R., 1999, “Stable Multiple Model Adaptive Flight Control for Accommodation of a Large Class of Control Effector Failures,” 1999 American Control Conferece (ACC), San Diego, CA, June 2–4, pp. 1920–1924. [CrossRef]
Boskovic, J., and Mehra, R., 2002, “A Decentralized Scheme for Accommodation of Multiple Simultaneous Actuator Failures,” Proceedings of 2002 American Control Conference (ACC), Anchorage, AK, May 8–10, pp. 5098–5103. [CrossRef]
Narendra, K., and Balakrishnan, J., 1997, “Adaptive Control Using Multiple Models,” IEEE Trans. Autom. Control, AC42, pp. 171–187. [CrossRef]
Tan, C., and Edwards, C., 2010, “Robust Fault Reconstruction in Uncertain Linear Systems Using Multiple Sliding Mode Observers in Cascade,” IEEE Trans. Autom. Control, 55(4), pp. 855–867. [CrossRef]
Borhaug, E., and Pettersen, K., 2006, “A UGAS Observer for n-DOF Euler-Lagrange Systems,” Proceedings of American Control Conference (ACC 2006), Minneapolis, MN, June 14-16. [CrossRef]
Alwi, H., Edwards, C., and Pin Tan, C., 2011, Fault Detection and Fault-Tolerant Control Using Sliding Modes, Springer, New York.
Edwards, C., Alwi, H., and Tan, C., 2010, “Sliding Mode Methods for Fault Detection and Fault Tolerant Control,” Proceedings of 2010 Conference on Control and Fault Tolerant Systems (SysTol), Nice, France, October 6–8, pp. 106–117 [CrossRef].
Utkin, V., 1992, Sliding Modes in Control Optimization, Springer-Verlag, Berlin.
Longhi, S., and Rossolini, A., 1989, “Adaptive Control for an Underwater Vehicle: Simulation Studies and Implementation Details,” IFAC Workshop on Expert Systems and Signal Processing in Marine Automation, Lyngby, Denmark, August 28–30, pp. 271–280.
Corradini, M., Monteriú, A., and Orlando, G., 2011, “A Sliding Mode Switching Controller for Actuator Failure Compensation,” IEEE Trans. Control Syst. Technol., 19(5), pp. 1036–1046. [CrossRef]
Conter, A., Longhi, S., and Tirabassi, C., 1989, “Dynamic Model and Self-Tuning Adaptive Control of an Underwater Vehicle,” 8th International Conference on Offshore Mechanics and Arctic Engineering, The Hague, The Netherlands, March 19–23, pp. 139–146.
Corradini, M., and Orlando, G., 1997, “A Discrete Adaptive Variable Structure Controller for MIMO Systems, and Its Application to an Underwater ROV,” IEEE Trans. Control Syst. Technol., 5(3), pp. 349–359. [CrossRef]
Boskovic, J., Yu, S., and Mehra, R., 1998, “A Stable Scheme for Automatic Control Reconfiguration in the Presence of Actuator Failures,” American Control Conference, Philadelphia, PA, June 21–26, pp. 2455–2459. [CrossRef]
Parisini, T., Polycarpou, M., and Zhang, X., 2002, “A Robust Detection and Isolation Scheme for Abrupt and Incipient Faults in Nonlinear Systems,” IEEE Trans. Autom. Control, 47(5), pp. 576–593. [CrossRef]
Chen, J., and Patton, R., 1997, “Fault-Tolerant Control Using LMI Design,” Control Eng. Pract., 5(5), pp. 671–682. [CrossRef]
Corradini, M., Monteriú, A., Orlando, G., and Pettinari, S., 2011, “An Actuator Failure Tolerant Robust Control Approach for an Underwater Remotely Operated Vehicle,” 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), Orlando, FL, December 12–15. [CrossRef]


Grahic Jump Location
Fig. 1

ROV operational configuration

Grahic Jump Location
Fig. 2

Abrupt fault: tracking errors

Grahic Jump Location
Fig. 3

Abrupt fault: thrusters

Grahic Jump Location
Fig. 4

Abrupt fault: observation errors

Grahic Jump Location
Fig. 5

Abrupt fault: sliding surfaces

Grahic Jump Location
Fig. 6

Reduction of effectiveness: tracking errors

Grahic Jump Location
Fig. 7

Reduction of effectiveness: thrusters

Grahic Jump Location
Fig. 8

Reduction of effectiveness: observation errors

Grahic Jump Location
Fig. 9

Reduction of effectiveness: sliding surfaces



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In