The design of a robust controller and the thruster fault accommodation for an underwater ROV (Remotely Operated Vehicle) is presented. The design method is based on sliding-mode control, in which an adaptation law is applied to avoid the determination of the uncertainties in dynamics of the vehicle. The stability of control law is verified by using Lyapunov's direct method and LaSalle's invariance principle. The thruster fault accommodation is investigated in order to maintain the normal working process of the ROV in case one or more thrusters fail due to a fault caused during the operation. Results from numerical experiments are presented to demonstrate the viability of the proposed scheme.
A robust controller for underwater robotic vehicles under thruster redundancy and fault accommodation
Ein robuster Regler für die Unterwasserwelt robotische Fahrzeuge unter Stoßer Redundanz und Fehler Unterkunft
2006
11 Seiten, 7 Bilder, 26 Quellen
(+ 10 S. pdf-Datei)
Aufsatz (Konferenz)
Englisch
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