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.
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页数：7
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