刘建成, 万磊, 戴捷, 庞永杰. 水下机器人推力器容错控制技术的研究[J]. 机器人, 2003, 25(2): 163-166..
LIU Jian-cheng, WAN Lei, DAI Jie, PANG Yong-jie. THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE. ROBOT, 2003, 25(2): 163-166..
Abstract：In order to insure that autonomous underwater vehicle completes the tasks successfully in unstructured and hazardous oceanic environment with the high pressure and low visibility, an efficient and effective fault-tolerant control system becomes imperative for AUVs. This paper discussed thrust fault-tolerant control technology for ZHISHUI Ⅲ AUV, designed at Harbin Engineering University. A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given. Results from computer simulation show that the precision of the fault-tolerant control approach is satisfactory.
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