Fault Recovery in Underwater Vehicles Using Fully Automatic Reconfigurable Control

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

“…Though the method is essentially the same as described in [1], [2]; in this project we have expanded the testing trajectories. While the previous work was tested only on a single trajectory, this new design was successfully tested using radically different trajectories of depth changes up to 1000 feet.…”

“…Different gains are pre-computed for different faults and different speeds. Contrary to our previous work [1] and [2] there is no structure change to the controller, as speed is incorporated as a control variable before and after the failure. This change was made for two reasons.…”

“…As described in our previous papers [1] and [2], our simulations are done in SIMULINK. The model used is a generic 12 th order nonlinear submarine model, with 6 degrees of freedom and is based on hydrodynamic coefficients.…”

“…In our previous work [1] and [2], we showed that stern plane jams are serious failures with potential catastrophic results. Figs.…”

“…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].…”