TY - GEN
T1 - Observer based fault diagnosis in thrusters of autonomous underwater vehicle
AU - Shumsky, Alexey
AU - Zhirabok, Alexey
AU - Hajiyev, Chingiz
PY - 2010
Y1 - 2010
N2 - The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure. These methods are applied to the model of CR-01 autonomous underwater vehicle. Appropriate simulation results are given.
AB - The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure. These methods are applied to the model of CR-01 autonomous underwater vehicle. Appropriate simulation results are given.
UR - https://www.scopus.com/pages/publications/78751654762
U2 - 10.1109/SYSTOL.2010.5676076
DO - 10.1109/SYSTOL.2010.5676076
M3 - Conference contribution
AN - SCOPUS:78751654762
SN - 9781424481545
T3 - Conference on Control and Fault-Tolerant Systems, SysTol'10 - Final Program and Book of Abstracts
SP - 11
EP - 16
BT - Conference on Control and Fault-Tolerant Systems, SysTol'10 - Final Program and Book of Abstracts
T2 - 1st Conference on Control and Fault-Tolerant Systems, SysTol'10
Y2 - 6 October 2010 through 8 October 2010
ER -