For a class of remotely operated vehicles (ROVs) with redundant thrusters, an adaptive fault-tolerant controller was addressed in this paper. Considering three categories of thruster faults, a fault model was established, and an adaptive controller based on radial basis function (RBF) neural networks sliding mode method was designed. Due to the ROVs are thruster redundancy, a thrust allocation method with the principle of yaw moment priority was proposed. It was proved that the trajectory tracking errors of in the inertial coordinate were uniformly ultimately bounded based on Lyapunov stability theory. Finally, based on a ROV mathematical model, the simulations were carried out in Matlab environment to show the effectiveness of the proposed controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive fault-tolerant control for a class of remotely operated vehicles under thruster redundancy


    Contributors:
    Chu, Zhenzhong (author) / Luo, Chaomin (author) / Zhu, Daqi (author)


    Publication date :

    2018-12-01


    Size :

    421207 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





    Remotely Operated Underwater Vehicles

    Billet, A. B. | SAE Technical Papers | 1984



    Seabotix Thruster Modeling for a Remotely Operated Vehicle (ROV)

    Ali, Ahmad Faris / Arshad, Mohd Rizal | British Library Conference Proceedings | 2019