Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters
Joint Authors
Dunnigan, Matthew W.
Mohd Faudzi, Ahmad 'Athif
Ismail, Zool H.
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-06-11
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system.
This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective.
Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region.
The stability of the presented control law is proven in the sense of a Lyapunov function.
Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.
American Psychological Association (APA)
Ismail, Zool H.& Mohd Faudzi, Ahmad 'Athif& Dunnigan, Matthew W.. 2014. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-478783
Modern Language Association (MLA)
Ismail, Zool H.…[et al.]. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters. Mathematical Problems in Engineering No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-478783
American Medical Association (AMA)
Ismail, Zool H.& Mohd Faudzi, Ahmad 'Athif& Dunnigan, Matthew W.. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-478783
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-478783