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Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle

Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle
Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle

This paper investigates adaptive fault tolerant control and fault reconstruction problem for AUV subject to ocean current disturbance and modelling uncertainty. At first, a virtual closed-loop system based adaptive fault tolerant control method is developed. In this method, the constructed virtual closed-loop system is mainly used to deal with the influence of the initial tracking error in an ideal environment and avoid the serious chattering phenomenon in control output. Then with respect to fault reconstruction in the framework of fault tolerant control, an improved second-order sliding mode observer is constructed to estimate the thruster fault effect. The feedback of the developed observer consists of different functions of the estimation errors, including fractional function, signature function and integral function etc. Furthermore, the stability analysis is given based on Lyapunov theory. Finally, a series of simulations are performed on an over-actuated AUV for different desired trajectories and different types of thruster faults under the condition of the simulated ocean current environment. The comparative simulation results demonstrate the effectiveness and feasibility of the new design.

Autonomous underwater vehicle, Fault reconstruction, Fault tolerant control, Second-order sliding mode observer, Trajectory tracking
0029-8018
10-23
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Yao, Feng
cc16f2ed-b603-487c-9dbe-eb9ccd08da50
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Yao, Feng
cc16f2ed-b603-487c-9dbe-eb9ccd08da50

Liu, Xing, Zhang, Mingjun and Yao, Feng (2018) Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle. Ocean Engineering, 155, 10-23. (doi:10.1016/j.oceaneng.2018.02.007).

Record type: Article

Abstract

This paper investigates adaptive fault tolerant control and fault reconstruction problem for AUV subject to ocean current disturbance and modelling uncertainty. At first, a virtual closed-loop system based adaptive fault tolerant control method is developed. In this method, the constructed virtual closed-loop system is mainly used to deal with the influence of the initial tracking error in an ideal environment and avoid the serious chattering phenomenon in control output. Then with respect to fault reconstruction in the framework of fault tolerant control, an improved second-order sliding mode observer is constructed to estimate the thruster fault effect. The feedback of the developed observer consists of different functions of the estimation errors, including fractional function, signature function and integral function etc. Furthermore, the stability analysis is given based on Lyapunov theory. Finally, a series of simulations are performed on an over-actuated AUV for different desired trajectories and different types of thruster faults under the condition of the simulated ocean current environment. The comparative simulation results demonstrate the effectiveness and feasibility of the new design.

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More information

Accepted/In Press date: 4 February 2018
e-pub ahead of print date: 23 March 2018
Published date: 1 May 2018
Keywords: Autonomous underwater vehicle, Fault reconstruction, Fault tolerant control, Second-order sliding mode observer, Trajectory tracking

Identifiers

Local EPrints ID: 422779
URI: http://eprints.soton.ac.uk/id/eprint/422779
ISSN: 0029-8018
PURE UUID: 0166feb2-a631-4ec1-b8a4-63102be36a79
ORCID for Xing Liu: ORCID iD orcid.org/0000-0002-2655-9174

Catalogue record

Date deposited: 03 Aug 2018 16:31
Last modified: 17 Mar 2024 12:00

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Contributors

Author: Xing Liu ORCID iD
Author: Mingjun Zhang
Author: Feng Yao

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