Thruster fault-tolerant control of a hovering AUV with four horizontal and two vertical thrusters
Thruster fault-tolerant control of a hovering AUV with four horizontal and two vertical thrusters
- New search for: Choi, Jin-Kyu
- New search for: Kondo, Hayato
- New search for: Shimizu, Etsuro
- New search for: Choi, Jin-Kyu
- New search for: Kondo, Hayato
- New search for: Shimizu, Etsuro
This paper deals with the motion control of a hovering autonomous underwater vehicle (AUV) with four horizontal and two vertical thrusters, when one or more thrusters are completely malfunctioned. Three thruster fault cases are considered: one horizontal thruster is faulty; two horizontal thrusters are faulty; and one vertical thruster is faulty. Through a series of simulations and an experiment, it is validated that the AUV can track a planned path in a 3-D space with minimally three thrusters (two are horizontal ones); however, some cases require the changes of the vehicle’s preferred direction of motion and its movement manner. Additionally, when the number of active horizontal thrusters is less than the required degree-of-freedom, a continuous state feedback control law does not exist due to the non-holonomic constraint. This paper highlights that the hovering AUV can overcome the non-holonomic constraint if using the feature that their translational and rotational motions can be controlled independently.
Document information
Thruster fault-tolerant control of a hovering AUV with four horizontal and two vertical thrusters
Advanced Robotics ; 28 , 4 ; 245-256
2014
12 Seiten, 17 Bilder, 1 Tabelle, 20 Quellen
Article (Journal)
English
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