Fault Tolerant Control of an AUV using Periodic Output Feedback with Multi Model Approach

2016 ◽  
Vol 5 (2) ◽  
pp. 41-62 ◽  
Author(s):  
Sneha Joshi ◽  
D. B. Talange
Keyword(s):  
Output Feedback ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Fault Tolerant ◽  
Six Degrees Of Freedom ◽  
Thrust Distribution ◽  
Depth Control ◽  
High Degree ◽  
Model Approach

Active thruster control is an important problem in AUV. One of the way to tackle this problem is to make the dynamic system like AUV as adaptive and self-controlling. This article discusses the fault tolerant controller design with periodic output feedback for Autonomous Underwater Vehicle using multi model approach. The entire system is modelled in state space. Assuring high degree of reliability and persisting autonomy under thruster failure the controller has to be designed such that the thrust distribution is effectively controlled if any one of the signals and corresponding thrusters fails. The AUV is modelled in six degrees of freedom having six inputs and six outputs. Four thrusters are used for vertical and horizontal movements in AUV. Fault tolerant controller is designed for depth control of AUV, with periodic output feedback gains with multi model approach. To each thruster failure the multi model is presented with the gain matrix having all off diagonal terms zero. The designed robust fault tolerant controller with periodic output feedback with multi model approach provides satisfactory stabilization to AUV depth system.

A Framework for Discrete-Time H2 Preview Control

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
A. J. Hazell ◽  
D. J. N. Limebeer
Keyword(s):  
Output Feedback ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Controller Design ◽  
Feedback Controller ◽  
Full Information ◽  
Preview Control ◽  
Output Feedback Controller ◽  
Information Problem ◽  
Theoretical Issues

The purpose of this paper is to provide a set of synthesis and design tools for a wide class of H2 preview control systems. A generic preview design problem, which features both previewable and nonpreviewable disturbances, is embedded in a standard generalized regulator framework. Preview regulation is accomplished by a two-degrees-of-freedom output-feedback controller. A number of theoretical issues are studied, including the efficient solution of the standard H2 full-information Riccati equation and the efficient evaluation of the full-information preview gain matrices. The full-information problem is then extended to include the efficient implementation of the output-feedback controller. The synthesis of feedforward controllers with preview is analyzed as a special case—this problem is of interest to designers who wish to introduce preview as a separate part of a system design. The way in which preview reduces the H2-norm of the closed-loop system is analyzed in detail. Closed-loop norm reduction formulas provide a systematic way of establishing how much preview is required to solve a particular problem, and determine when extending the preview horizon will not produce worthwhile benefits. The paper concludes with a summary of the main features of preview control, as well as some controller design insights. New application examples are introduced by reference.

scholarly journals Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
R. K. Sinha ◽  
Aayush Jha ◽  
Faheem Ahmad ◽  
Vivek Mishra ◽  
Prateek Murgai ◽  
...  
Keyword(s):  
Power Systems ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Mechanical Design ◽  
Water Environment ◽  
Experimental Results ◽  
Design And Development ◽  
Sound Sources ◽  
Six Degrees Of Freedom ◽  
Underwater Target

This paper presents the design and development of a modular littoral autonomous underwater vehicle called “ZYRA” having six degrees of freedom for performing the following tasks underwater: target (sound sources emitting frequencies between 1 Hz and 180 KHz) localization and homing, buoy detection. The development of the AUV has been divided into, namely, five sections: mechanical design and fabrication, embedded and power systems, control and software, image processing, and underwater acoustics. A fully functional AUV has been tested in a self-created arena with different tasks spread out in a shallow water environment. Two different kinds of experimental results have been presented: first the experimental results of the SONAR module and second based on the number of successful outcomes per total number of trials for each task.

An Autonomous Underwater Vehicle for Competition

2013 ◽  
Vol 380-384 ◽  
pp. 595-600
Author(s):  
Hai Tian ◽  
Bo Hu ◽  
Can Yu Liu ◽  
Guo Chao Xie ◽  
Hui Min Luo
Keyword(s):  
Control System ◽  
Hydrodynamic Model ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Autonomous Underwater Vehicles ◽  
Vertical Motion ◽  
Underwater Vehicle ◽  
Step Response ◽  
Six Degrees Of Freedom ◽  
Simulink Simulation

The research of this paper was derived from the small autonomous underwater vehicle (AUV)Raider well performed in the 15th International Underwater Vehicle Competition (IAUVC),San Diego. In order to improve the performance of underwater vehicle, the control system of performance motion played an important role on autonomous underwater vehicles stable motion, and the whole control system of AUV is the main point. Firstly, based on the motion equations of six degrees of freedom, the paper simplified the dynamical model reasonably in allusion; Due to the speed of Raider to find the target was very low, this paper considered the speed was approximately zero and only considered the vertical motion. Therefore, this paper established the vertical hydrodynamic model of Raider, obtaining the transfer equation of vertical motion. Through the experiment and Matlab/Simulink simulation, this paper got the actual depth of the step response curve and simulation curve, and verified the validity of the vertical hydrodynamic model and the correlation coefficient.

Design and Experimental Study of a 6-DOF Material Testing Machine

2013 ◽  
Vol 419 ◽  
pp. 533-542
Author(s):  
Dan Wang ◽  
Rui Fan ◽  
Jiang Zhen Guo ◽  
Wu Yi Chen ◽  
Yong Sheng Sun
Keyword(s):  
Degrees Of Freedom ◽  
Controller Design ◽  
Testing Machine ◽  
Tensile Tests ◽  
Material Testing ◽  
Multiaxial Loading ◽  
Inverse Dynamic ◽  
Six Degrees Of Freedom ◽  
Loading Tests ◽  
Material Testing Machine

A six degrees-of-freedom (DOF) parallel material testing machine (PMTM), which is based on Stewart Platform, is first proposed in this paper. Several essential issues including prototyping, compliant axis determination and controller design are investigated with specific methods or technologies. The compliant axis, along which the proposed machine has a better performance, is determined by the eigenscrew decomposition method. The proposed force controller incorporates the simplified inverse dynamic model output as a model-based portion of the controller and its validity is verified by means of simulations. Evaluation tests are performed to examine the practicability of the proposed controller and to determine the loading accuracy of the PMTM. Tensile tests and preliminary multiaxial loading tests are performed to verify the performance of the proposed PMTM. The experimental results illustrate that the proposed PMTM is capable of performing multiaxial loading tests of materials and thus a suitable candidate for multiaxial material testing machine.

Fault-Tolerant Controller Design for Uncertain Networked Control Systems Based on Static Output Feedback

2014 ◽  
Vol 971-973 ◽  
pp. 1218-1221
Author(s):  
Yong Gang Yan ◽  
Ping Cao
Keyword(s):  
Control Systems ◽  
Output Feedback ◽  
Controller Design ◽  
Networked Control Systems ◽  
Fault Tolerant ◽  
Networked Control ◽  
Static Output Feedback ◽  
Data Packet Dropout ◽  
Sensor Failures ◽  
Static Output

The problem studied the robust fault-tolerant controller design for the uncertain networked control system, The considered system has actuator and sensor failures. Under the non-ideal network conditions such as time-delay, data packet dropout and mis-sequence, a model of the networked control systems is provided, The robust stability conditions are obtained in the situation of actuator and sensor failures based on Lyapunov Krsasovkii functional method and static output feedback by introducing some free-weighing matrices, Based on this sufficient condition, the static output feedback controller design method is deduced in terms of linear matrix inequalities. An illustrative example shows the effectiveness and feasibility of proposed method.

scholarly journals The parameter identification of the autonomous underwater vehicle based on multi-innovation least squares identification algorithm

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142092101
Author(s):  
Zhang Huajun ◽  
Tong Xinchi ◽  
Guo Hang ◽  
Xia Shou
Keyword(s):  
Least Squares ◽  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Recursive Least Squares ◽  
Model Parameters ◽  
Identification Algorithm ◽  
Six Degrees Of Freedom ◽  
Recursive Least Squares Algorithm ◽  
Least Squares Algorithm

An accurate model is important for the engineer to design a robust controller for the autonomous underwater vehicle. There are two factors that make the identification difficult to get accurate parameters of an AUV model in practice. Firstly, the autonomous underwater vehicle model is a coupled six-degrees-of-freedom model, and each state of the kinetic model influences the other five states. Secondly, there are more than 100 hydrodynamic coefficients which have different effects, and some parameters are too small to be identified. This article proposes a simplified six-degrees-of-freedom model that contains the essential parameters and employs the multi-innovation least squares algorithm based on the recursive least squares algorithm to obtain the parameters. The multi-innovation least squares algorithm leverages several past errors to identify the parameters, and the identification results are more accurate than those of the recursive least squares algorithm. It collects the practical data through an experiment and designs a numerical program to identify the model parameters. Meanwhile, it compares the performances of the multi-innovation least squares algorithm with those of the recursive least squares algorithm and the least square method, the results show that the multi-innovation least squares algorithm is the most effective way to identify parameters for the simplified six-degrees-of-freedom model.

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