The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure. These methods are applied to the model of CR-01 autonomous underwater vehicle. Appropriate simulation results are given.


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    Title :

    Observer based fault diagnosis in thrusters of autonomous underwater vehicle


    Contributors:


    Publication date :

    2010


    Size :

    6 Seiten, 6 Bilder, 2 Tabellen, 4 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English






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