应用于水下航行器的推力器容错控制策略

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI:10.1109/MMAR.2012.6347891

Jeremy G. Rauber, C. Santos, Antonio C. B. Chiella, Lucas R. H. Motta

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引用次数: 8

摘要

本文讨论了自主水下航行器(AUV)推进系统的动力学建模，以及具有四个垂直推进器和两个水平推进器的AUV的容错控制方法。首先对水下航行器进行了动力学和运动学分析，然后对动力推进系统进行了分析，了解了水下航行器的现状。通过一系列的仿真，验证了我们的推进模型系统及其容错控制的有效性，即使在某些推进器出现故障的情况下，也能配合飞行器沿着期望路径运行的目的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A strategy for thruster fault-tolerant control applied to an AUV

In this article we discuss the dynamic modelling of the propulsion system of an autonomous underwater vehicle (AUV), and also a method of fault tolerant control in an AUV that has four vertical and two horizontal thrusters. Firstly we made an analysis of the dynamic and kinematic effects of the vehicle, subsequently we did an analysis of dynamic propulsion system and then found out the state of the art of the underwater vehicle. Through a series of simulations, it was validated our propulsion model system and its efficiency of the fault tolerant control working in conjunction with the purpose of the vehicle to follow a desired path even when some thrusters is faulty.

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2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)

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