Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics

Cengiz Hacizade; Sitki Yenal Vural

doi:10.1109/SYSTOL.2019.8864780

Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics

Cengiz Hacizade
, Sitki Yenal Vural

Uçak Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

5 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019
Yayınlayan	IEEE Computer Society
Sayfalar	153-158
Sayfa sayısı	6
ISBN (Elektronik)	9781728103808
DOI'lar	https://doi.org/10.1109/SYSTOL.2019.8864780
Yayın durumu	Yayınlandı - Eyl 2019
Etkinlik	4th Conference on Control and Fault Tolerant Systems, SysTol 2019 - Casablanca, Morocco Süre: 18 Eyl 2019 → 20 Eyl 2019

Yayın serisi

Adı	Conference on Control and Fault-Tolerant Systems, SysTol
ISSN (Basılı)	2162-1195
ISSN (Elektronik)	2162-1209

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	4th Conference on Control and Fault Tolerant Systems, SysTol 2019
Ülke/Bölge	Morocco
Şehir	Casablanca
Periyot	18/09/19 → 20/09/19

Bibliyografik not

Publisher Copyright:
© 2019 IEEE.

Finansman

Research was supported by TUBITAK (The Scientific and Technological Research Council of Turkey) under grant 109M702.

Finansörler	Finansör numarası
TUBITAK
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu	109M702

Belgeye Erişim

10.1109/SYSTOL.2019.8864780

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

@inproceedings{9702817aacc4455db832e4ed1b3c68fe,

title = "Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics",

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.",

author = "Cengiz Hacizade and Vural, \{Sitki Yenal\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th Conference on Control and Fault Tolerant Systems, SysTol 2019 ; Conference date: 18-09-2019 Through 20-09-2019",

year = "2019",

month = sep,

doi = "10.1109/SYSTOL.2019.8864780",

language = "English",

series = "Conference on Control and Fault-Tolerant Systems, SysTol",

publisher = "IEEE Computer Society",

pages = "153--158",

booktitle = "2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019",

address = "United States",

}

Hacizade, C & Vural, SY 2019, Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics. in 2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019., 8864780, Conference on Control and Fault-Tolerant Systems, SysTol, IEEE Computer Society, pp. 153-158, 4th Conference on Control and Fault Tolerant Systems, SysTol 2019, Casablanca, Morocco, 18/09/19. https://doi.org/10.1109/SYSTOL.2019.8864780

Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics. / Hacizade, Cengiz; Vural, Sitki Yenal.
2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019. IEEE Computer Society, 2019. p. 153-158 8864780 (Conference on Control and Fault-Tolerant Systems, SysTol).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics

AU - Hacizade, Cengiz

AU - Vural, Sitki Yenal

PY - 2019/9

Y1 - 2019/9

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85077522567

U2 - 10.1109/SYSTOL.2019.8864780

DO - 10.1109/SYSTOL.2019.8864780

M3 - Conference contribution

AN - SCOPUS:85077522567

T3 - Conference on Control and Fault-Tolerant Systems, SysTol

SP - 153

EP - 158

BT - 2019 4th Conference on Control and Fault Tolerant Systems, SysTol 2019

PB - IEEE Computer Society

T2 - 4th Conference on Control and Fault Tolerant Systems, SysTol 2019

Y2 - 18 September 2019 through 20 September 2019

ER -

Active Fault Tolerant Lateral Control Against Actuator Faults Applied to AUV Dynamics

Özet

Yayın serisi

???event.eventtypes.event.conference???

Bibliyografik not

Finansman

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap