Nonlinear observer-based adaptive thruster allocation for thruster fault tolerant control of over-actuated UUV

Nonlinear observer-based adaptive thruster allocation for thruster fault tolerant control of over-actuated UUV

ObjectiveTo deal with the external time-variance disturbances and possible failure of actuators during the dynamic positioning operation of an unmanned underwater vehicle (UUV), this paper proposes a nonlinear observer-based adaptive allocation strategy to achieve thruster fault tolerance. MethodThe...

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Bibliographic Details
Main Authors: Guandao WANG, Xianbo XIANG, Jinjiang LI, Shaolong YANG
Format: Article
Language:English
Published: Editorial Office of Chinese Journal of Ship Research 2022-10-01
Series:Zhongguo Jianchuan Yanjiu
Subjects:
unmanned underwater vehicle (uuv)
over-actuation
fault tolerance
thruster allocation
nonlinear observer
Online Access:http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02571

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http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02571

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