Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters
This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Hindawi Publishing Corporation
2014
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| Subjects: | |
| Online Access: | http://eprints.utm.my/52862/1/ZoolHilmiIsmail2014_Fault-tolerantregion-based.pdf |
| _version_ | 1796859800520228864 |
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| author | Ismail, Zool Hilmi Faudzi, Ahmad ’A. Dunnigan, Matthew W. |
| author_facet | Ismail, Zool Hilmi Faudzi, Ahmad ’A. Dunnigan, Matthew W. |
| author_sort | Ismail, Zool Hilmi |
| collection | ePrints |
| description | This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces. |
| first_indexed | 2024-03-05T19:32:35Z |
| format | Article |
| id | utm.eprints-52862 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T19:32:35Z |
| publishDate | 2014 |
| publisher | Hindawi Publishing Corporation |
| record_format | dspace |
| spelling | utm.eprints-528622018-07-19T07:18:36Z http://eprints.utm.my/52862/ Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters Ismail, Zool Hilmi Faudzi, Ahmad ’A. Dunnigan, Matthew W. TK Electrical engineering. Electronics Nuclear engineering This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces. Hindawi Publishing Corporation 2014 Article PeerReviewed application/pdf en http://eprints.utm.my/52862/1/ZoolHilmiIsmail2014_Fault-tolerantregion-based.pdf Ismail, Zool Hilmi and Faudzi, Ahmad ’A. and Dunnigan, Matthew W. (2014) Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters. Mathematical Problems in Engineering . ISSN 1024-123X http://dx.doi.org/10.1155/2014/527315 DOI: 10.1155/2014/527315 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ismail, Zool Hilmi Faudzi, Ahmad ’A. Dunnigan, Matthew W. Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title | Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title_full | Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title_fullStr | Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title_full_unstemmed | Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title_short | Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters |
| title_sort | fault tolerant region based control of an underwater vehicle with kinematically redundant thrusters |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/52862/1/ZoolHilmiIsmail2014_Fault-tolerantregion-based.pdf |
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