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EnglishThis paper presents a preliminary set of results on the design of an Actuator Failure Tolerant Control Systems for an underwater remotely operated vehicle (ROV). The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV for failure detection purposes. Successively, using a Sliding Mode Control based approach, the failure is isolated and the control law is reconfigured using the remaining working actuators. © 2009 IFAC.
| Titolo: | An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles | |
| Autori: | ||
| Data di pubblicazione: | 2009 | |
| Abstract: | This paper presents a preliminary set of results on the design of an Actuator Failure Tolerant Control Systems for an underwater remotely operated vehicle (ROV). The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV for failure detection purposes. Successively, using a Sliding Mode Control based approach, the failure is isolated and the control law is reconfigured using the remaining working actuators. © 2009 IFAC. | |
| Handle: | http://hdl.handle.net/11566/66630 | |
| ISBN: | 9783902661517 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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