Abstract:This paper analyzes the decoupling controller and sensor system of an Autonomous Underwater Vehicle(AUV),and proposes a fault-tolerant control(also called substituting control) strategy based on the ideas of replacing the fault sensor outputs by the sliding-mode observer outputs.For the irrecoverable sensor faults,this strategy minimizes its damage to the AUV.For the jumping faults of sensors,substituting control is used during jumping.The simulation result proves the validity of this strategy.
[1] Pang Y J,Shang Y,Xu Y R.Software design techniques for the man-machine interface to autonomous underwater vehicles[A]. Proceedings of the 1998 International Symposium on Underwater Technology[C]. New York,NY,USA:IEEE,1998.370-374.
[2] 刘学敏,徐玉如.水下机器人运动的S面控制方法[J]. 海洋工程,2001,19(3):81-84.
[3] 刘学敏.水下机器人运动控制系统的信息融合技术研究[D]. 哈尔滨:哈尔滨工程大学,2001.
[4] 王丽荣,徐玉如.水下机器人传感器故障诊断[J]. 机器人,2006,28(1):25-29.
[5] Takai M,Ura T.Development of a system to diagnose autonomous underwater vehicle[J]. International Journal of Systems Science,1999,30(9):981-988.
[6] 孟传伟,蒋平,陈辉堂,等.基于滑模观测器的机器人系统传感器故障诊断[J]. 机器人,1998,20(3):221-226.
[7] Alessandri A,Bruzzone G,Caccia M,et al.Fault detection through dynamics monitoring for unmanned underwater vehicles[A]. Proceedings of the 4th IFAC Symposium on Fault Detection,Supervision and Safety for Technical Processes[C]. Kidlington,UK:Elsevier Science,2000.951-956.