Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles

Liu, Fuqiang; Xu, Dehong; Yu, Jin; Bai, Long

doi:10.1177/1729881418770876

Cited by 9 publications

(6 citation statements)

References 17 publications

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“…The FL methods for typical robots with redundant thrusters have been given in [ 29 ], whereas previously proposed methods in this paper only correspond to the typical torpedo-shaped AUVs that have four rudders and one thruster. Without a loss of generality, a constructive scheme is proposed.…”

Section: Main Resultsmentioning

confidence: 99%

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

Liu

Yan

Luo

et al. 2021

Sensors

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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.

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Section: Main Resultsmentioning

confidence: 99%

“…([ 29 ]). With explicit consideration of actuator faults, the faulty

in ( 1 ) is rewritten as

where

is the required dynamic input, and

contains unknown fault factors that can be estimated by

where

is the estimation,

is a state vector that satisfies

…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

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

Liu

Yan

Luo

et al. 2021

Sensors

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“…Further, an improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Liu et al [6] investigated the fault tolerant control for an autonomous underwater vehicle with thruster redundancy, while the AUV is commanded to dock into a station. A Dubins curve is predefined as an optimal docking path for the AUV to follow, and a group of azimuth thrusters are equipped on the AUV to deal with the uncertain faults.…”

Section: Introductionmentioning

confidence: 99%

An Underwater Thruster Fault Diagnosis Simulator and Thrust Calculation Method Based on Fault Clustering

Yuan

Wan

Zhang

et al. 2021

Journal of Robotics

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In order to study the fault diagnosis method of small underwater thruster, an experimental device for fault diagnosis of underwater thruster is designed, and a controller hardware and monitoring software of upper computer and lower computer are developed to realize the acquisition and storage of parameters for underwater propeller. The experimental device can simulate four kinds of thruster faults, collect the hydrophone data, classify the fault types by fault clustering analysis, analyze the spectrum of four types of faults, and calculate the thrust under different fault conditions based on the results of spectrum analysis. The experimental results show that the experimental system effectively simulates different faults of the thruster, and the analysis method realizes the classification of different faults. The thrust loss of different faults is also calculated based on the analysis method.

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“…Since the UASNNs are applied to large-scale deployment, thruster faults are worth considering. Reference [19] proposed a fault isolation issue for the redundant thrusters. This approach got rid of some fault-free terms from the given control input equations, and adopted consistency check to achieve control task.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

Qin

Sun

et al. 2019

IEEE Access

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This paper designs a prescribed performance fault-tolerant control strategy for the underwater acoustic sensor network nodes (UASNN) trajectory tracking control in the presence of ocean current disturbances, modeling uncertainties, and thruster faults. By using a general uncertainties observer, the influence of disturbances and uncertainties are estimated. Additionally, a novel performance function which determines explicitly the maximum convergence time is utilized. Based on the new performance function and corresponding error transformation, the 6-DOF tracking errors are restricted to prescribed bounds to ensure the desired transient and steady response. Furthermore, when considering thruster saturation, we introduce an auxiliary system to compensate for the saturation. The closed-loop system stability is proved by Lyapunov theory. The numerical simulations for three thruster faults are carried out to demonstrate that the proposed strategy is effective. INDEX TERMS Underwater acoustic sensor networks, trajectory tracking control, prescribed performance, thruster fault, saturation.

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Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles

Cited by 9 publications

References 17 publications

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

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

An Underwater Thruster Fault Diagnosis Simulator and Thrust Calculation Method Based on Fault Clustering

Fault-Tolerant Prescribed Performance Control Algorithm for Underwater Acoustic Sensor Network Nodes With Thruster Saturation

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