Sensor Fault Tolerant Control for AUVs Based on Replace Control
نویسندگان
چکیده
To improve the reliability of the motion control system for an autonomous underwater vehicle (AUV), sensor fault tolerant control based on replace control was talked about. This paper analyzed the decoupling controller and the sensor system firstly, and proposed a fault tolerant control strategy based on the ideas of replacing the fault sensor outputs by the sliding-mode observer outputs (also called replace control). For the irrecoverable sensor faults, the strategy minimized the damage to the AUV. For the jumping faults of sensors, replace control is used during jumping. The simulation results proved the validity of the strategy. Copyright © 2013 IFSA.
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