Robust adaptive fault tolerant control for a steering subsystem of unmanned underwater vehicles

This paper deals with the robust adaptive fault-tolerant compensation control problem for steering subsystem of unmanned underwater vehicles (UUVs) with actuator time-varying faults, disturbances and parameter uncertainties. A sufficient condition for the existence of reduced-order sliding mode dynamics is derived in the case of actuator faults, and an explicit parametrization of the desired sliding surface is also given. Without the need for a fault detection and isolation (FDI) mechanism, an adaptive sliding mode controller is developed based on the online estimation of an eventual fault to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults and exogenous disturbances. The simulation demonstrates the effectiveness of the proposed design method.

[1]  Bin Jiang,et al.  Fault estimation and accommodation for linear MIMO discrete-time systems , 2005, IEEE Transactions on Control Systems Technology.

[2]  Gang Tao,et al.  Adaptive control of systems with actuator failures , 2004, 2008 Chinese Control and Decision Conference.

[3]  Yew-Wen Liang,et al.  Reliable Control of Nonlinear Systems via Variable Structure Scheme , 2006, IEEE Transactions on Automatic Control.

[4]  P. Gahinet,et al.  A linear matrix inequality approach to H∞ control , 1994 .

[5]  P. Khargonekar,et al.  Robust stabilization of uncertain linear systems: quadratic stabilizability and H/sup infinity / control theory , 1990 .

[6]  Nilanjan Sarkar,et al.  Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy , 2001, Robotics Auton. Syst..

[7]  Maria Letizia Corradini,et al.  An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle , 2011, IEEE Transactions on Control Systems Technology.

[8]  Yuesheng Luo,et al.  Resilient guaranteed cost diving depth control of AUV , 2010, The 2010 IEEE International Conference on Information and Automation.

[9]  Liu Qian,et al.  Sensor fault diagnosis and fault-tolerant control method of underwater vehicles , 2009 .

[10]  Jianliang Wang,et al.  Reliable Hinfinity controller design for linear systems , 2001, Autom..

[11]  Pang Yongjie.  THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE , 2003 .

[12]  Daqi Zhu,et al.  An Active Fault-Tolerant Control Method Ofunmanned Underwater Vehicles with Continuous and Uncertain Faults , 2008 .

[13]  Chih-Min Lin,et al.  Robust Fault-Tolerant Control for a Biped Robot Using a Recurrent Cerebellar Model Articulation Controller , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[14]  Han Ho Choi,et al.  An Explicit Formula of Linear Sliding Surfaces for a Class of Uncertain Dynamic Systems with Mismatched Uncertainties , 1998, Autom..

[15]  Lingli Ni,et al.  Fault-Tolerant Control of Unmanned Underwater Vehicles , 2001 .

[16]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[17]  Dana R. Yoerger,et al.  Adaptive sliding control of an experimental underwater vehicle , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[18]  Xiaozheng Jin,et al.  Robust fault-tolerant controller design for linear time-invariant systems with actuator failures: an indirect adaptive method , 2010 .

[19]  Daqi Zhu,et al.  Adaptive fault-tolerant control of non-linear systems: an improved CMAC-based fault learning approach , 2007, Int. J. Control.

[20]  Yu Jiancheng,et al.  Research on Thruster Fault Tolerant Control Allocation of a 7000m Manned Submarine , 2006 .

[21]  G. N. Roberts,et al.  Thruster fault diagnosis and accommodation for open-frame underwater vehicles , 2004 .