This paper describes the current state of the work done at The University of Wales College Newport under the ‘improve the performance of remotely operated vehicles’ programmme (IMPROVES). The work incorporates advances in two interrelated parts of the project: it presents a technique to extract velocity from a low-cost MEMS inertial measurement unit for system identification and development of a combined control allocation and fault detection technique. The paper presents theoretical developments and results obtained on experimental trials.
System identification and fault accommodation for thruster propelled UUVs
Journal of Marine Engineering & Technology ; 4 , 2 ; 41-50
01.01.2005
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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