Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation
Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation
- New search for: Sarkar, N.
- New search for: Podder, T.K.
- New search for: Antonelli, G.
- New search for: Sarkar, N.
- New search for: Podder, T.K.
- New search for: Antonelli, G.
A new approach to the fault-accommodating allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated in this paper. This paper presents a framework that exploits the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that considers the presence of an excess number of thrusters along with any thruster faults and determines the reference thruster forces to produce the desired motion. This framework is then extended to incorporate a dynamic state feedback technique to generate reference thruster forces that are within the saturation limit of each thruster. Results from both computer simulations and experiments are provided to demonstrate the viability of the proposed scheme.
Document information
Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation
IEEE Transactions on Robotics and Automation ; 18 , 2 ; 223-233
2002
11 Seiten, 36 Quellen
Article (Journal)
English
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