• 中国科技核心期刊
  • Scopus收录期刊
  • DOAJ收录期刊
  • JST收录期刊
  • Euro Pub收录期刊
Volume 29 Issue 1
 
Turn off MathJax
Article Contents
Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(1): 104-110
QIU Shuai, Lü Rui, FAN Hui, WAN Ya-min, HUANG Hai, YANG Guan-jin-zi. Fault-Tolerant Control Method for an Underwater Robot Based on the CAM Matrix[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 104-110. doi: 10.11993/j.issn.2096-3920.2021.01.015
Citation: QIU Shuai, Lü Rui, FAN Hui, WAN Ya-min, HUANG Hai, YANG Guan-jin-zi. Fault-Tolerant Control Method for an Underwater Robot Based on the CAM Matrix[J]. Journal of Unmanned Undersea Systems, 2021, 29(1): 104-110. doi: 10.11993/j.issn.2096-3920.2021.01.015
shu

Fault-Tolerant Control Method for an Underwater Robot Based on the CAM Matrix

doi: 10.11993/j.issn.2096-3920.2021.01.015

  • The 705 Research Institute, China State Shipbuilding Corporation Limited, Xian 710077, China

  • Received Date: 2020-10-13
  • Rev Recd Date: 2020-11-19
  • Publish Date: 2021-03-01
    Abstract
  • The poor control effect of an underwater robot thruster after failure often prevents specific tasks from being completed and may even cause the loss of the robot. To address this problem, this study proposes a fault-tolerant control method for an underwater robot based on a control allocation machine(CAM) thrust distribution matrix. The CAM matrix is used to reconstruct the distribution to ensure stable navigation of the robot, and a thrust distribution strategy for achieving maximum resultant forces is identified using a sequential quadratic programming method. The effectiveness of the proposed method is verified through a simulation. Simulation results show that the proposed fault-tolerant control method can handle partial or complete failure of the thruster and can ensure that the robot achieves good performance and stable navigation

     

    • FullText(HTML)
  • loading
    • References(20)
  • [1]
    刘维新. 水下机器人推进器弱故障检测与预测方法研究[D]. 哈尔滨: 哈尔滨工程大学, 2016.
    [2]
    陈小龙. 自主式水下机器人容错控制研究[D]. 哈尔滨: 哈尔滨工程大学, 2009.
    [3]
    Corradini M L, Cristofaro A. A Nonlinear Fault-tolerant Thruster Allocation Architecture for Underwater Remotely Operated Vehicles[J]. IFAC-Papers on Line, 2016, 49(23): 285-290.
    [4]
    Podder T K, Sarkar N. Fault-tolerant Control of an Au-tonomous Underwater Vehicle under Thruster Redundancy[J]. Robotics and Autonomous Systems, 2001, 34(1): 39-52.
    [5]
    Omerdic E, Roberts G. Thruster Fault Diagnosis and Ac-commodation for Open-frame Underwater Vehicles[J]. Control Rngineering Practice, 2004, 12(12): 1575-1598.
    [6]
    袁芳, 朱大奇, 叶银忠. 基于降阶卡尔曼滤波器的水下机器人滑模容错控制[J]. 控制与决策, 2011, 26(7): 1031-1035.

    Yuan Fang, Zhu da-qi, Ye Yin-zhong. Sliding-mode Fault-tolerant Control Method of Underwater Vehicle Based on Reduced-order Kalman Filter[J]. Control and Decision, 2011, 26(7): 1031-1035.
    [7]
    Liu X, Zhang M, Wang Y, et al. Design and Experimental Validation of an Adaptive Sliding Mode Observer-based Fault-tolerant Control for Underwater Vehicles[J]. IEEE Transactions on Control Systems Technology, 2019, 27(6): 2655-2662.
    [8]
    Soylu S, Buckham B J, Podhorodeski R P. A Chattering-free Sliding-mode Controller for Underwater Vehicles with Fault-tolerant Infinity-norm Thrust Allocation[J]. Ocean Engineering, 2008, 35(16): 1647-1659.
    [9]
    Xu R, Tang G, Huang D, et al. Adaptive Fault-tolerant Attitude Control for a CMG-based Underwater Vehicle[J]. Journal of Marine Science and Technology, 2019, 25(3): 1-8.
    [10]
    Li B, Dong W, Xiong C. Robust Actuator-fault-tolerant Control System Based on Sliding-mode Observer for Thrust-vectoring Aircrafts[J]. Asian Journal of Control, 2019, 21(1): 236-247.
    [11]
    Guo B, Chen Y. Adaptive Fast Sliding Mode Fault Tolerant Control Integrated with Disturbance Observer for Spacecraft Attitude Stabilization System[J]. ISA Transactions, 2019, 94: 1-9.
    [12]
    Zhu D, Liu Q, Hu Z. Fault-tolerant Control Algorithm of the Manned Submarine with Multi-thruster Based on Quantum-behaved Particle Swarm Optimisation[J]. International Journal of Control, 2011, 84(11): 1817-1829.
    [13]
    褚振忠, 朱大奇. 基于自适应区域跟踪的自主式水下机器人容错控制[J]. 山东大学学报(工学版), 2017, 47(5): 57-63.

    Chu Zhen-zhong, Zhu Da-qi. Fault-tolerant Control of Autonomous Underwater Vehicle Based on Adaptive Region Tracking[J]. Journal of Shandong University (Engineering Science), 2017, 47(5): 57-63.
    [14]
    Wang Y, Wilson P A, Liu X. Adaptive Neural Network-based Backstepping Fault Tolerant Control for Underwater Vehicles with Thruster Fault[J]. Ocean Engineering, 2015, 110: 15-24.
    [15]
    Hai H, Lei W, Chang W T, et al. A Fault-tolerable Control Scheme for an Open-frame Underwater Vehicle[J]. International Journal of Advanced Robotic Systems, 2014, 11(5): 77.
    [16]
    Ma L, Huang Y, Zhou L, et al. Fault Tolerant Control for a Class of Nonlinear System with Actuator Faults[EB/OL]. (2019-09-12)[2020-10-01]. https://onlinelibrary.wiley.co m/doi/full/10.1002/asjc.2225.
    [17]
    Wang W, Chen Y, Xia Y, et al. A Fault-tolerant Steering Prototype for X-rudder Underwater Vehicles[J]. Sensors, 2020, 20(7): 1816.
    [18]
    Yu Y, Wang H, Li N. Fault-tolerant Control for Over-actuated Hypersonic Reentry Vehicle Subject to Multiple Disturbances and Actuator Faults[J]. Aerospace Science and Technology, 2019, 87: 230-243.
    [19]
    García-Valdovinos L, Salgado-Jiménez T, Bandala-Sánchez M, et al. Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle[J]. International Journal of Advanced Robotic Systems, 2014, 11(1): 1-16.
    [20]
    Yuh J, Nie J. Application of Non-regressor-based Adaptive Control to Underwater Robots: Experiment[J]. Com-puter & Electrical Engineering, 2000, 26: 169-179.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article Views(387) PDF Downloads(213) Cited by()
    Proportional views
    Related
    Service
    Subscribe
    Copyright：陕ICP备09015163号Address:No. 96, Jinye Road, Xi'an, Shaanxi
    Code：710077Tel: 029-88327279QQ: 767358370
    Email: bianjibu705@sohu.com 767358370@qq.com
    Email Alert RSS
    Taobao
    Micro

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return