Fault-Tolerant Control for AUVs Using a Single Thruster

The present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditi...

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Detalles Bibliográficos
Autores: Chaos García, Dictino, Moreno Salinas, David, Aranda Almansa, Joaquín
Tipo de recurso: artículo
Fecha de publicación:2022
País:España
Institución:Universidad Nacional de Educación a Distancia
Repositorio:e-spacio. Repositorio Institucional de la UNED
Idioma:inglés
OAI Identifier:oai:e-spacio.uned.es:20.500.14468/24528
Acceso en línea:https://hdl.handle.net/20.500.14468/24528
Access Level:acceso abierto
Palabra clave:12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
Attitude control
Fault tolerant systems
Fault tolerance
Actuators
Vehicle dynamics
Adaptation models
Fault diagnosis
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spelling Fault-Tolerant Control for AUVs Using a Single ThrusterChaos García, DictinoMoreno Salinas, DavidAranda Almansa, Joaquín12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 InformáticaAttitude controlFault tolerant systemsFault toleranceActuatorsVehicle dynamicsAdaptation modelsFault diagnosisThe present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direction and reach a safe target point. In addition, the AUV is commanded with only two control actions on the available thruster, driving the vehicle through the desired direction following a spiral-like path and keeping it within the neighbourhood of the target point. The fault-tolerant control proposed is simple and robust enough to be applied to multiple kinds of AUVs without the need of accurate parameter design. The stability and well performance of the control scheme proposed is analytically demonstrated, and simulation examples illustrate the key results derived.IEEEe-Spacio UNED20242024-11-2620222022-02-0120222022-02-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14468/24528reponame:e-spacio. Repositorio Institucional de la UNEDinstname:Universidad Nacional de Educación a DistanciaInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/deed.esoai:e-spacio.uned.es:20.500.14468/245282026-06-06T12:38:31Z
dc.title.none.fl_str_mv Fault-Tolerant Control for AUVs Using a Single Thruster
title Fault-Tolerant Control for AUVs Using a Single Thruster
spellingShingle Fault-Tolerant Control for AUVs Using a Single Thruster
Chaos García, Dictino
12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
Attitude control
Fault tolerant systems
Fault tolerance
Actuators
Vehicle dynamics
Adaptation models
Fault diagnosis
title_short Fault-Tolerant Control for AUVs Using a Single Thruster
title_full Fault-Tolerant Control for AUVs Using a Single Thruster
title_fullStr Fault-Tolerant Control for AUVs Using a Single Thruster
title_full_unstemmed Fault-Tolerant Control for AUVs Using a Single Thruster
title_sort Fault-Tolerant Control for AUVs Using a Single Thruster
dc.creator.none.fl_str_mv Chaos García, Dictino
Moreno Salinas, David
Aranda Almansa, Joaquín
author Chaos García, Dictino
author_facet Chaos García, Dictino
Moreno Salinas, David
Aranda Almansa, Joaquín
author_role author
author2 Moreno Salinas, David
Aranda Almansa, Joaquín
author2_role author
author
dc.contributor.none.fl_str_mv e-Spacio UNED
dc.subject.none.fl_str_mv 12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
Attitude control
Fault tolerant systems
Fault tolerance
Actuators
Vehicle dynamics
Adaptation models
Fault diagnosis
topic 12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
Attitude control
Fault tolerant systems
Fault tolerance
Actuators
Vehicle dynamics
Adaptation models
Fault diagnosis
description The present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direction and reach a safe target point. In addition, the AUV is commanded with only two control actions on the available thruster, driving the vehicle through the desired direction following a spiral-like path and keeping it within the neighbourhood of the target point. The fault-tolerant control proposed is simple and robust enough to be applied to multiple kinds of AUVs without the need of accurate parameter design. The stability and well performance of the control scheme proposed is analytically demonstrated, and simulation examples illustrate the key results derived.
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-02-01
2022
2022-02-01
2024
2024-11-26
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14468/24528
url https://hdl.handle.net/20.500.14468/24528
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/deed.es
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
http://creativecommons.org/licenses/by/4.0/deed.es
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:e-spacio. Repositorio Institucional de la UNED
instname:Universidad Nacional de Educación a Distancia
instname_str Universidad Nacional de Educación a Distancia
reponame_str e-spacio. Repositorio Institucional de la UNED
collection e-spacio. Repositorio Institucional de la UNED
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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