An Active Fault-Tolerant Control Method Ofunmanned Underwater Vehicles with Continuous and Uncertain Faults

[摘要] This paper introduces a novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with abrupt faults. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC(Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse to find the solution of the control allocation problem. To illustrate the proposed method effective, simulation example, under multi-uncertain abrupt faults, is given in the paper.

[学科分类] 自动化工程

[关键词] Fault diagnosis;Fault-tolerant control;Underwater Vehicles;Thruster;Biomimetic