THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE
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摘要: 为保证自主式水下机器人在高压、可见度差的未知海洋环境下顺利完成作业任务，必然要求水下机器人具有容错控制能力．本文主要以哈尔滨工程大学研制的“智水Ⅲ”型水下机器人为对象，探讨水下机器人推力器容错控制技术，文中先给出在正常情况下水下机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略，仿真结果表明，该控制器及容错控制策略都能达到很好的控制精度．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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