An Actuator Fault Tolerant Approach For Underwater Remotely Operated Vehicles

Abstract This paper presents a preliminary set of results on the design of Actuator Fault Detection Systems (AFDSs) for an underwater remotely operated vehicle (ROV) to prevent actuator faults and hence to reduce the risk of safety hazards. The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV. This solution permits to discover the redundancy of the system, and thus using it for fault detection purposes. Successively, by means of a Sliding Mode Control based approach, the fault is isolated and the control law is reconfigurated using the remaining working actuators. In both the phases the plant is assumed to be affected by “moderate” parametric variations. Moreover, it is supposed to undergo unknown faults, which cause the plant input components to be stuck at some uncertain but bounded time functions.

[1]  Paul M. Frank,et al.  Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy: A survey and some new results , 1990, Autom..

[2]  Gang Tao,et al.  An adaptive actuator failure compensation controller using output feedback , 2002, IEEE Trans. Autom. Control..

[3]  Kumpati S. Narendra,et al.  Adaptive control using multiple models , 1997, IEEE Trans. Autom. Control..

[4]  F. Schmid,et al.  A New Fault Diagnosis Algorithm that Improves the Integration of Fault Detection and Isolation , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[5]  Suresh M. Joshi,et al.  An adaptive control scheme for systems with unknown actuator failures , 2002, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[6]  Xiaoli Ma,et al.  Adaptive state feedback and tracking control of systems with actuator failures , 2001, IEEE Trans. Autom. Control..

[7]  Jovan D. Boskovic,et al.  Stable multiple model adaptive flight control for accommodation of a large class of control effector failures , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[8]  R. K. Mehra,et al.  A decentralized scheme for accommodation of multiple simultaneous actuator failures , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[9]  R. Patton,et al.  A Review of Parity Space Approaches to Fault Diagnosis , 1991 .

[10]  Paul M. Frank,et al.  Fault Diagnosis in Dynamic Systems via State Estimation - a Survey , 1987 .

[11]  Maria Letizia Corradini,et al.  A discrete adaptive variable-structure controller for MIMO systems, and its application to an underwater ROV , 1997, IEEE Trans. Control. Syst. Technol..

[12]  Mogens Blanke,et al.  A Ship Propulsion System as a Benchmark for Fault-tolerant Control , 1997 .

[13]  M. Staroswiecki,et al.  ANALYTICAL REDUNDANCY IN NON LINEAR INTERCONNECTED SYSTEMS BY MEANS OF STRUCTURAL ANALYSIS , 1989 .

[14]  Vincent Cocquempot,et al.  Residual Generation for the Ship Benchmark Using Structural Approach , 1998 .

[15]  Marios M. Polycarpou,et al.  Adaptive fault-tolerant control of nonlinear uncertain systems: an information-based diagnostic approach , 2004, IEEE Transactions on Automatic Control.

[16]  Rolf Isermann,et al.  Supervision, fault-detection and fault-diagnosis methods — An introduction , 1997 .

[17]  Kevin A. Wise,et al.  DIRECT ADAPTIVE RECONFIGURABLE FLIGHT CONTROL FOR A TAILLESS ADVANCED FIGHTER AIRCRAFT , 1999 .

[18]  A Conter,et al.  DYNAMIC MODEL AND SELF-TUNING ADAPTIVE CONTROL OF AN UNDERWATER VEHICLE , 1989 .

[19]  Hong Wang,et al.  On the use of adaptive updating rules for actuator and sensor fault diagnosis , 1997, Autom..

[20]  Jie Chen,et al.  Design of unknown input observers and robust fault detection filters , 1996 .

[21]  Maria Letizia Corradini,et al.  Actuator Failure Identification and Compensation Through Sliding Modes , 2007, IEEE Transactions on Control Systems Technology.