ACTIVE FAULT TOLERANT CONTROL OF REMOTELY OPERATED VEHICLES VIA CONTROL EFFORT REDISTRIBUTION

被引：0
|
作者：
Baldini, A. [1 ]
Ciabattoni, L. [1 ]
Felicetti, R. [1 ]
Ferracuti, F. [1 ]
Monteriu, A. [1 ]
Fasano, A. [2 ]
Freddi, A. [3 ]
机构：
[1] Univ Politecn Marche, Dipartimento Ingn Informaz, I-60131 Ancona, Italy
[2] Univ Campus Biomed, I-00128 Rome, Italy
[3] Univ eCampus, SMARTEST Res Ctr, I-22060 Novedrate, CO, Italy
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2017, VOL 9 | 2017年
关键词：
UNDERWATER; DIAGNOSIS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
An active fault tolerant control technique for Underwater Remotely Operated Vehicles is proposed in this paper The main objective is to develop a controller for the tracking problem, which is robust against possible actuator faults and failures. The main advantage of the proposed fault tolerant control scheme is to develop a unique controller; and thus a unique set of control parameters, regardless the presence of faults and failures. This is achieved through a redistribution of the control effort on the healthy actuators. Simulation results are provided to demonstrate the viability of the proposed fault accommodating technique.
引用
收藏
页数：7
相关论文
共 50 条
  • [1] Actuator fault tolerant control via active fault diagnosis for a remotely operated vehicle
    Baldini, Alessandro
    Felicetti, Riccardo
    Freddi, Alessandro
    Longhi, Sauro
    Monteriu, Andrea
    IFAC PAPERSONLINE, 2022, 55 (06): : 310 - 316
  • [2] Dynamic surface fault tolerant control for underwater remotely operated vehicles
    Baldini, Alessandro
    Ciabattoni, Lucio
    Felicetti, Riccardo
    Ferracuti, Francesco
    Freddi, Alessandro
    Monteriu, Andrea
    ISA TRANSACTIONS, 2018, 78 : 10 - 20
  • [3] Active Fault Tolerant Control of a Remotely Operated Vehicle Propulsion System
    Yusoff, Mohd Akmal Mohd
    Arshad, M. R.
    INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS 2012 (IRIS 2012), 2012, 41 : 622 - 628
  • [4] A Model-based Active Fault Tolerant Control Scheme for a Remotely Operated Vehicle
    Baldini, Alessandro
    Fasano, Antonio
    Felicetti, Riccardo
    Freddi, Alessandro
    Longhi, Sauro
    Monteriu, Andrea
    IFAC PAPERSONLINE, 2018, 51 (24): : 798 - 805
  • [5] Fault Tolerant Control for Remotely Operated Vehicles with Thruster Faults using Nonlinear Disturbance Observers
    Baldini, Alessandro
    Felicetti, Riccardo
    Freddi, Alessandro
    Longhi, Sauro
    Monteriu, Andrea
    IFAC PAPERSONLINE, 2022, 55 (31): : 275 - 280
  • [6] Adaptive fault-tolerant control for a class of remotely operated vehicles under thruster redundancy
    Chu, Zhenzhong
    Luo, Chaomin
    Zhu, Daqi
    2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
  • [7] Fault Detection, Diagnosis and Fault Tolerant Output Control for a Remotely Operated Vehicle
    Baldini, A.
    Felicetti, R.
    Freddi, A.
    Longhi, S.
    Monteriu, A.
    Fasano, A.
    2018 14TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS (MESA), 2018,
  • [8] Assistive control framework for Remotely Operated Vehicles
    Di Vito, Daniele
    Di Lillo, Paolo
    Arrichiello, Filippo
    Antonelli, Gianluca
    2018 26TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2018, : 364 - 369
  • [9] An adaptive VSS control for remotely operated vehicles
    Dyda, Alexander A.
    Oskin, Dmitry A.
    Longhi, Sauro
    Monteriu, Andrea
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2017, 31 (04) : 507 - 521
  • [10] Design of finite-time active fault tolerant control system with real-time fault estimation for a remotely operated vehicle
    Hosseinnajad, Alireza
    Loueipour, Mehdi
    Ocean Engineering, 2021, 241
12345