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.
An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles / Corradini, M. L.; Monteriu', Andrea; Orlando, Giuseppe. - (2009), pp. 267-272. (Intervento presentato al convegno 8th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC'2009) tenutosi a Guarujá (Brasile) nel 2009) [10.3182/20090916-3-BR-3001.0023].
An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles
MONTERIU', Andrea;ORLANDO, Giuseppe
2009-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
