Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Ocean Engineering Year : 2023

Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments

Abstract

In this paper, we present the mathematical design and implementation of a fault-tolerant control scheme for a bio-inspired underwater robot with four flexible fins. The proposed active fault-tolerant control scheme re-configures the force allocation matrix using the Elimination of Column Method, depending on which fin actuator is faulty. The proposed method allows to decouple the 6-DOF controllable underwater vehicle using the remaining three fins. The efficacy of the proposed method is assessed experimentally for trajectory tracking of an ellipsoidal-shaped trajectory using two different controllers, namely PID control and Sliding Mode control. The obtained results show that the combination of a sliding mode controller with the proposed fault-tolerant control allocation approach ensures an efficient trajectory tracking control performance when faults occur.
Fichier principal
Vignette du fichier
OE-D-22-04785_Clean.pdf (4.34 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

lirmm-04165240 , version 1 (18-07-2023)

Identifiers

Cite

Walid Remmas, Ahmed Chemori, Maarja Kruusmaa. Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments. Ocean Engineering, 2023, 285, pp.115327. ⟨10.1016/j.oceaneng.2023.115327⟩. ⟨lirmm-04165240⟩
20 View
42 Download

Altmetric

Share

Gmail Facebook X LinkedIn More