The thrusters provide propulsion support for the underwater motion of the ROV. In order to enhance the reliability and safety of the ROV, this paper focuses on a redundant thruster ROV model and proposes a passive fault-tolerant controller based on HJI (Hamilton-Jacobi Inequality) and integral sliding mode. Through Lyapunov stability analysis and numerical simulation, it is demonstrated that the designed passive fault-tolerant controller can maintain the motion state of the ROV in the event of thruster failure without fault information.
Fault-Tolerant Control of ROV Based on HJI Integral Sliding Mode
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024
Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024) ; Kapitel : 21 ; 232-241
12.04.2025
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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