Active Fault Tolerant Control of Remotely Operated Vehicles via Control Effort Redistribution

Baldini, Alessandro; Ciabattoni, Lucio; Felicetti, Riccardo; Ferracuti, Francesco; Monteriù, Andrea; Fasano, Antonio; Freddi, Alessandro

doi:10.1115/detc2017-67760

Cited by 7 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In terms of hardware, the power supply of the faulty propeller is isolated to avoid the collapse of the entire power system. In software, the penalty factor of the faulty thrusters in the control distribution process is increased and the allowable power of each thruster is redistributed [16][17][18]. Santos et al proposed another control redistribution method, which projected the force (moment) needed to be generated by the faulty thruster onto other normal thrusters on the same plane, to avoid modifying the control efficiency matrix [19].…”

Section: Introductionmentioning

confidence: 99%

Research on Fault-tolerant Control Allocation Technology for X-rudder UUV

Xu,

Feng,

Zhang

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

X-rudder UUV is a typical redundant control system with high reliability and high control difficulty. This article researches the reconfigurable control allocation technology of X-rudder UUV control, analyzes and sorts out typical fault types of X-rudder UUV, and designs a reconfigurable control allocation algorithm without changing the high-level control law. In the case of partial failure of the rudder surface, the remaining rudder surface is used to complete the movement of UUV, improving the robustness of UUV to faults and damage. The effectiveness of the proposed fault-tolerant control allocation method is verified by simulation.

show abstract

Section: Introductionmentioning

confidence: 99%

Research on Fault-tolerant Control Allocation Technology for X-rudder UUV

Xu,

Feng,

Zhang

et al. 2023

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…The article [22] presents a method for mapping the depth of an image using two stereo cameras mounted on ROVs providing stereoscopic 3D perception and augmented reality visualization to support ROV pilots in underwater manipulation tasks. Different fault-tolerant control systems [23][24][25] are used to solve problems related to the reliability of ROVs continuously located in an unpredictable marine environment. The system described in the article [23] allows you to initially detect and isolate the malfunction, as well as eliminate it.…”

Section: Introductionmentioning

confidence: 99%

Development and Field Testing of a Smart Support System for ROV Operators

Konoplin

Yurmanov

2022

JMSE

View full text Add to dashboard Cite

The article considers the issues of development of a smart system for supporting activities of ROV operators and its practical implementation for the efficient operation a ROV Comanche 18 that is based on the R/V Akademik M.A. Lavrentiev. The system uses algorithms that provide coordinated movements of the ROV and its depressor unit. These algorithms are designed for ROVs to make synchronous, accurate, and accident-free movements along long-distance routes even when launched from a support vessel without dynamic positioning (DP). For this, the operator receives real-time visual recommendations and warnings generated on the basis of the expert evaluation of information coming from various sensors and positioning systems. The ability to plan routes of the ROV and its mothership, inputting target points, saving maps, tracks, and locations of the detected underwater objects are also implemented in the designed system. The article presents the results of successful tests carried out during a deep-sea research expedition of the A.V. Zhirmunsky National Scientific Center of Marine Biology FEB RAS in the Bering Sea and Pacific Ocean. The created smart support system for ROV operators significantly extends the range of capabilities of ROVs performing many unique underwater operations, while significantly reducing their operating time.

show abstract

“…The FTC system for an ROV, proposed in [12], used a modified version of the Moore-Penrose pseudo inverse to redistribute the control effort to healthy thrusters if a fault occurs.…”

Section: Introductionmentioning

confidence: 99%

“…As a first step for evaluation this approach is beneficial but, when practical and affordable, real-world trials should be conducted to evaluate the system in the environment in which it is expected to operate. Real-world trials have been conducted in some cases to evaluate the FTC of the ROV [4,12], generating more accurate results.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

Capocci

Omerdić

Dooly

et al. 2018

JMSE

View full text Add to dashboard Cite

This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of the ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios.

show abstract

Active Fault Tolerant Control of Remotely Operated Vehicles via Control Effort Redistribution

Cited by 7 publications

References 0 publications

Research on Fault-tolerant Control Allocation Technology for X-rudder UUV

Research on Fault-tolerant Control Allocation Technology for X-rudder UUV

Development and Field Testing of a Smart Support System for ROV Operators

Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

Contact Info

Product

Resources

About