Dynamic surface fault tolerant control for underwater remotely operated vehicles

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

doi:10.1016/j.isatra.2018.02.021

Cited by 54 publications

(15 citation statements)

References 22 publications

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“…Equation (1) defines a linear transformation B from the true control space R 3 to the virtual control space R 2 , which maps (projects) the constrained control subset (unit 3D cube) Ω into attainable command set Φ v ⊂ Φ ( Figure 6). In the general case, the optimal true control input is given by the solution to a two-step optimisation problem [9]:…”

Section: Geometric Insight Into Problemmentioning

confidence: 99%

“…A control allocation method for compensation for the effect of thrusters' dead zones is proposed in [8]. The Dynamic Surface Control (DSC) method for underwater ROVs has been proposed in [9]. Exhaustive simulations have been carried out to compare the performance of the DSC method with respect to different control techniques (PID, backstepping and sliding mode approaches) in fault-free and faulty conditions, with included non-linear effects, such as saturation, actuator dynamics, sensor noises etc.…”

Section: Introductionmentioning

confidence: 99%

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Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

et al. 2020

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The overall control system for an open-frame Remotely Operated Vehicle (ROV) is typically built from three subsystems: guidance, navigation and control (GNC). The control allocation plays a vital role in the control subsystem. Typically, open-frame underwater vehicles have p actuators (thrusters) for the motion in the horizontal plane, and the control allocation problem, in this case, is very complex and hard to visualise, because the normalised constrained control subset is a p-dimensional unit cube. The aim of this paper is to give a clear picture and a geometric interpretation of the problem and to introduce a hybrid method, based on the integration of a weighted pseudoinverse and the fixed-point method. The main idea of the hybrid method is visualised, and the deep geometric insight is provided using a “virtual” ROV in low-dimensional control spaces, including visualisation of the attainable command set, solution lines, control energy spheres and the role of pseudoinverse and fixed-point iterations. The same concepts are then extended to higher-dimensional cases, for open-frame ROV with four X-shaped (vectored) horizontal thrusters, which is one of the most common thruster configurations for commercial ROVs. The proposed hybrid method has been developed, integrated into a generic fault-tolerant ROV control system and evaluated in virtual and real-world environments off the west coast of Ireland using observation-class ROV Latis and work-class ROV Étaín.

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Section: Geometric Insight Into Problemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

et al. 2020

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“…5 They use fault tolerant control technology to change the structure of the AUV’s propulsion to compensate the loss effectiveness of the fault thruster and make the AUV be able to continue to work with performance as good as the thruster with no fault as possible. 6,7 In fact, the thruster fault does not disappear. The effect of thruster fault is just hidden.…”

Section: Introductionmentioning

confidence: 98%

A fault diagnosis approach for autonomous underwater vehicle thrusters using time-frequency entropy enhancement and boundary constraint–assisted relative gray relational grade

Yin

Zhang

Lin

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel thruster fault diagnosis approach for an autonomous underwater vehicle. In the novel approach, a time-frequency entropy enhancement is used to extract feature, and then a boundary constraint–assisted relative gray relational grade is applied to identify thruster fault. The time-frequency entropy enhancement is developed from the smoothed pseudo Wigner–Ville distribution combined with Shannon entropy. First, the energy distributions of autonomous underwater vehicle dynamic signals are given in the time-frequency plane. And then the energy concentration in the energy distribution is enhanced based on a serial signal processing, including wavelet decomposition, modified Bayes’ classification algorithm, and two dimensional convolution operation, successively. After that the Shannon entropy of the energy distribution is calculated. The boundary constraint–assisted relative gray relational grade comes from the gray relational analysis. A mapping function between the relative gray relational grade and the fault severity is established. And then the boundary constraints of relative gray relational grades at each standard fault level are determined. Moreover, the mapping function is modified based on the boundary constraints. Experiments are performed on an experimental prototype autonomous underwater vehicle in a pool. The experimental results demonstrate the effectiveness of the developed approaches in terms of improving the sensitivity of the fault feature to the fault severity, compared with the smoothed pseudo Wigner–Ville distribution combined with Shannon entropy, and increasing the identification accuracy, compared with the gray relational analysis.

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“…In order to identify thruster failures, Fagogenis, et al [9] proposed an algorithm using a mixture of Gaussians and variational Bayes approximations in the diagnosis process, while [10] applied an online Bayesian nonparametric topic modeling technique to characterize the AUV's performance patterns automatically, then realized fault detection and diagnosis by means of a nearest-neighbor classifier. Reference [11] utilized a second-order sliding mode observer to estimate both the unmeasured system states and the fault extent related to the thrusters of a remotely operated vehicle. In [12], fault diagnosis of the actuators under winding faults was addressed by finite impulse response and principal component analysis.…”

Section: Introductionmentioning

confidence: 99%

A Fault-tolerant Steering Prototype for X-rudder Underwater Vehicles

Wang

Chen

Xia

et al. 2020

Sensors

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The X-rudder concept has been applied to more and more autonomous underwater vehicles (AUVs) in recent years, since it shows better maneuverability and robustness against rudder failure compared to the traditional cruciform rudder. Aiming at the fault-tolerant control of the X-rudder AUV (hereinafter abbreviated as xAUV), a fault-tolerant steering prototype system which can realize dynamics control, autonomous rudder fault detection and fault-tolerant control is presented in this paper. The steering prototype system is deployed on a verification platform, an xAUV, in which the monitor software is developed based on the factory method and the onboard software is developed based on the finite state machine (FSM). Dual-loop increment feedback control (DIFC) is first introduced to obtain smooth virtual rudder commands considering actuator’s limitations. Then the virtual rudder commands are transformed into X-rudder commands based on the mapping theory. In rudder fault diagnosis, an optimized particle filter is proposed for estimating rudder effect deduction, with proposal distribution derived from unscented Kalman filter (UKF). Then the fault type can be determined by analyzing indicators related to the deduction. Fault-tolerant control is addressed by dealing with nonlinear programming (NLP) problem, where minimization of allocation errors and control efforts are set as the optimization objectives, and rudder failure, saturation and actuators limitations are considered as constraints. The fixed-point iteration method is utilized to solve this optimization problem. Many field tests have been conducted in towing tank. The experimental results demonstrate that the proposed steering prototype system is able to detect rudder faults and is robust against rudder failure.

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Dynamic surface fault tolerant control for underwater remotely operated vehicles

Cited by 54 publications

References 22 publications

Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution

A fault diagnosis approach for autonomous underwater vehicle thrusters using time-frequency entropy enhancement and boundary constraint–assisted relative gray relational grade

A Fault-tolerant Steering Prototype for X-rudder Underwater Vehicles

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