An Active Fault-Tolerant Control Method Ofunmanned Underwater Vehicles with Continuous and Uncertain Faults
نویسندگان
چکیده
This paper introduces a novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with abrupt faults. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC(Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse to find the solution of the control allocation problem. To illustrate the proposed method effective, simulation example, under multi-uncertain abrupt faults, is given in the paper.
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Fault-tolerant Control of Unmanned Underwater Vehicles with Continuous Faults: Simulations and Experiments
A novel thruster fault diagnosis and accommodation method for open-frame underwater vehicles is presented in the paper. The proposed system consists of two units: a fault diagnosis unit and a fault accommodation unit. In the fault diagnosis unit an ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network information fusion model is used to realize the fault id...
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