Detection and classification of faults affecting maneuverability of underwater vehicles

Beale, Guy O.; Kim, J.H.

doi:10.1109/iecon.2003.1279990

Cited by 2 publications

(2 citation statements)

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“…This demonstrates that the closedloop systems formed from the linearized system models with speeds in the 6-12 knot range are stabilized by either the 8 knot or 12 knot controller. In addition, every closed-loop characteristic equation that would fall in the convex hull of the seven specified characteristic equations (6,7,8,9,10,11,12 knots) will also be stabilized. Strictly speaking the Edge Theorem proves robust stability for a family of systems with an affine linear uncertainty structure [25].…”

Section: Robustness Analysismentioning

confidence: 98%

“…Our approach to determining the control actions that would be initiated when the system detects a stern plane jam is described. This work is an improvement of the work presented in [1] and [2], and assumes that the fault detection and classification activities that have been described in [3] - [7] have already been carried out, with rapid detection and correct classification. It is assumed that fault detection was performed using the PCA/T 2 method [8] - [10].…”

Section: Introductionmentioning

confidence: 96%

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Design of a robust reconfigurable control algorithm for underwater vehicles experiencing stern plane jams

Soucacos

Beale

2006

2006 American Control Conference

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It has been shown that stern plane jams can potentially produce catastrophic results in underwater vehicles. Excessively large depth excursions that cause broaching or dangerously deep depths can occur. This paper presents a new approach by eliminating the restructuring of the controller that was done in our previous design. Commanded forward speed has been introduced as a control variable both before and after the failure. Gain matrices are computed for the system model operating at different speeds. Logic is used to select the appropriate gain based on the fault. Excellent results have been achieved. The robustness of the controller is tested using the Edge Theorem and the controller is shown to stabilize a range of system models.

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