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Design and experimental validation of an adaptive sliding mode observer-based fault-tolerant control for underwater vehicles

Design and experimental validation of an adaptive sliding mode observer-based fault-tolerant control for underwater vehicles
Design and experimental validation of an adaptive sliding mode observer-based fault-tolerant control for underwater vehicles

Cost and other practically related reasons can mean that velocity sensors are not available on an underwater vehicle. For such cases, the results in this brief are developed on an observer-based fault-tolerant control for underwater vehicles in the presence of external disturbances and unknown thruster faults. An adaptive sliding mode observer is developed to achieve finite-time convergence where, in comparison to a high-gain-based design for the observer, a nonlinear feedback is constructed based on the position estimation error. Unlike alternatives, a discontinuity term in the developed fault tolerant controller is avoided, and the stability of the controlled dynamics is characterized using the Lyapunov theory. Finally, these new results are supported by both a simulation-based study and experimental verification.

Estimation error, Fault tolerance, Fault tolerant systems, Fault-tolerant control, finite-time estimation, Observers, Sea measurements, sliding mode observer, Underwater vehicles, underwater vehicles, validation results., Velocity measurement
1063-6536
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Wang, Yujia
8f3f5722-a53e-4061-ba52-60ea723a2273
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Liu, Xing
fe61471d-841c-4508-aecf-d386df8705b5
Zhang, Mingjun
3f2fa55f-5931-401b-af64-9151a199263b
Wang, Yujia
8f3f5722-a53e-4061-ba52-60ea723a2273
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

Liu, Xing, Zhang, Mingjun, Wang, Yujia and Rogers, Eric (2018) Design and experimental validation of an adaptive sliding mode observer-based fault-tolerant control for underwater vehicles. IEEE Transactions on Control Systems Technology. (doi:10.1109/TCST.2018.2870829).

Record type: Article

Abstract

Cost and other practically related reasons can mean that velocity sensors are not available on an underwater vehicle. For such cases, the results in this brief are developed on an observer-based fault-tolerant control for underwater vehicles in the presence of external disturbances and unknown thruster faults. An adaptive sliding mode observer is developed to achieve finite-time convergence where, in comparison to a high-gain-based design for the observer, a nonlinear feedback is constructed based on the position estimation error. Unlike alternatives, a discontinuity term in the developed fault tolerant controller is avoided, and the stability of the controlled dynamics is characterized using the Lyapunov theory. Finally, these new results are supported by both a simulation-based study and experimental verification.

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Design and Experimental Validation of an Adaptive Sliding Mode Observer-Based Fault-Tolerant Control for Underwater Vehicles - Accepted Manuscript
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Accepted/In Press date: 9 September 2018
e-pub ahead of print date: 2 October 2018
Keywords: Estimation error, Fault tolerance, Fault tolerant systems, Fault-tolerant control, finite-time estimation, Observers, Sea measurements, sliding mode observer, Underwater vehicles, underwater vehicles, validation results., Velocity measurement

Identifiers

Local EPrints ID: 425984
URI: http://eprints.soton.ac.uk/id/eprint/425984
ISSN: 1063-6536
PURE UUID: 17dc67e3-8cd7-4964-9017-353662006d87
ORCID for Xing Liu: ORCID iD orcid.org/0000-0002-2655-9174
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 08 Nov 2018 17:30
Last modified: 07 Oct 2020 01:34

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Contributors

Author: Xing Liu ORCID iD
Author: Mingjun Zhang
Author: Yujia Wang
Author: Eric Rogers ORCID iD

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