This paper extends our previous work [1] on the design of a thruster failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. In this work, each thruster of the underwater vehicle can rotate, offering a significant advantage to optimize its control. When a thruster experiences a failure, the resulting thrust force, which should be allocated to the failed actuator, is reallocated to the still faultless thrusters. Moreover, the angle of each thrusters is set to minimize the control effort. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario. © 2016 IEEE.
A thruster failure tolerant control scheme for underwater vehicles / Ciabattoni, L.; Fasano, A.; Ferracuti, F.; Freddi, A.; Longhi, S.; Monteriù, A.. - ELETTRONICO. - (2016), pp. 1-6. (Intervento presentato al convegno 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2016 tenutosi a The University of Auckland, nzl nel 2016) [10.1109/MESA.2016.7587175].
A thruster failure tolerant control scheme for underwater vehicles
Ciabattoni, L.;Ferracuti, F.;Freddi, A.;Longhi, S.;Monteriù, A.
2016-01-01
Abstract
This paper extends our previous work [1] on the design of a thruster failure tolerant control scheme for underwater vehicles. The proposed control scheme is based on the use of a suitable thruster allocation algorithm, which consists on a modified version of the Moore-Penrose pseudo inverse. In this work, each thruster of the underwater vehicle can rotate, offering a significant advantage to optimize its control. When a thruster experiences a failure, the resulting thrust force, which should be allocated to the failed actuator, is reallocated to the still faultless thrusters. Moreover, the angle of each thrusters is set to minimize the control effort. A bank of controllers is built so that each controller is designed to control the considered underwater vehicle under a specific actuator failure scenario. © 2016 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
