Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles

Abstract

To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.

Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

“…To ensure the mission implementation of the AUV, fault localisation and detection are crucial. Faults that occur in the propulsion and attitude control systems of the AUV can be analysed and located using selective features of the defined fault parameters [93]. This allows prompt detection and localisation of faults, ensuring reliable control strategies and inputs for the AUV.…”