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.

An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles

CORRADINI, Maria Letizia;
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
9783902661517
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11581/110954
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