IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/527315.html
   My bibliography  Save this article

Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

Author

Listed:
  • Zool H. Ismail
  • Ahmad ’A. Faudzi
  • Matthew W. Dunnigan

Abstract

This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

Suggested Citation

  • Zool H. Ismail & Ahmad ’A. Faudzi & Matthew W. Dunnigan, 2014. "Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-12, June.
    • Handle: RePEc:hin:jnlmpe:527315
    DOI: 10.1155/2014/527315
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2014/527315.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2014/527315.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2014/527315?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:527315. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.