The problem of fault detection for UUVs (Unmanned Underwater Vehicle) is addressed. The design of a fault diagnosis system has been considered for Romeo, an overactuated prototype UUV, built and developed at the Naval Automation Institute, Genoa, Italy. Model-based residual generation has been addressed using the dynamic models identified to describe the motion of this vehicle. These models are affected by uncertainties, therefore, robustness is of primary importance. Sliding-mode observers have been used as robust residual generators. The results obtained with real data of artificial faults using the extended Kalman filter and the sliding-mode observer are reported.


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    Title :

    Fault detection through dynamics monitoring for unmanned underwater vehicles


    Additional title:

    Fehlererkennung mit dynamischer Prozessüberwachung für unbemannte Unterwasserfahrzeuge


    Contributors:
    Alessandri, A. (author) / Bruzzone, G. (author) / Caccia, M. (author) / Coletta, P. (author) / Veruggio, G. (author)


    Publication date :

    2000


    Size :

    6 Seiten, 3 Bilder, 2 Tabellen, 21 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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