Abstract
In this study, the parameter identification based fault tolerant control of an autonomous underwater vehicle (AUV) dynamics is presented. The Kalman filter (KF) is used in order to identify the control distribution matrix elements, that correspond to the faulty actuator; thus, the control reconfiguration is carried out using this identified control distribution matrix. A linear quadratic regulator (LQR) is designed for the modeled AUV as a controller. A fault in the actuator is identified by the KF and LQR controller is reconfigured for the identified model. In simulations, the linearized model of dynamics of steering subsystem of AUV is considered, and the performance of the proposed actuator failure identification and reconfigurable control techniques are examined.
| Original language | English |
|---|---|
| Title of host publication | 2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019 |
| Publisher | IEEE Computer Society |
| Pages | 153-158 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728103808 |
| DOIs | |
| Publication status | Published - Sept 2019 |
| Event | 4th Conference on Control and Fault Tolerant Systems, SysTol 2019 - Casablanca, Morocco Duration: 18 Sept 2019 → 20 Sept 2019 |
Publication series
| Name | Conference on Control and Fault-Tolerant Systems, SysTol |
|---|---|
| ISSN (Print) | 2162-1195 |
| ISSN (Electronic) | 2162-1209 |
Conference
| Conference | 4th Conference on Control and Fault Tolerant Systems, SysTol 2019 |
|---|---|
| Country/Territory | Morocco |
| City | Casablanca |
| Period | 18/09/19 → 20/09/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.
Funding
Research was supported by TUBITAK (The Scientific and Technological Research Council of Turkey) under grant 109M702.
| Funders | Funder number |
|---|---|
| TUBITAK | |
| Türkiye Bilimsel ve Teknolojik Araştirma Kurumu | 109M702 |