Automatic reconfiguration and control of the MARES AUV in the presence of a thruster fault

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Bruno Ferreira (Author) FEUP; Anibal Matos (Author) FEUP; Nuno Cruz (Author) FEUP

Conference proceedings International

Title: 2011 IEEE - OCEANS SPAIN

IEEE OCEANS Conference

Santander, SPAIN, JUN 06-09, 2011

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 4 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-002-WXY

DOI: 10.1109/oceans-spain.2011.6003625

Abstract (EN): In this paper, we address the control of a small-sized autonomous underwater vehicle (AUV), the MARES. We focus on the vertical motion of the vehicle while contemplating an alternative actuator configuration which may operate in the presence of a possible fault. We present a method to detect the occurence of a fault and to identify the faulty thruster. In normal operation, the MARES AUV makes use of two through-hull thrusters for accurate vertical positioning. Nevertheless, the vehicle depth is still controllable with only one of these but an adequate operation requires the redefinition of the control law. Two modes of operation are made possible by deriving a new feedback control law for the configuration with only one vertical thruster. Based on the Lyapunov theory and on the backstepping method, we determine a control law that makes the vehicle tend to the reference with null error. As a demonstration of the performances of our approach, we present some results obtained from field experiments.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8