Fault Tolerant Control for a Fractional Order AUV System

Fractional Order Fault Tolerant Controller for Auv

Here a innovative approach of Auto tuned fractional order control is proposed for fault tolerant control of Autonomous Underwater Vehicle (AUV). From fault detection and reconfiguration, fractional order controller is designed. Reconfiguration is designed using Eigen structure assignment technique. The proposed approach is tested on REMUS-100 AUV model. Variable step input is used as a referenc...

Sensor Fault Tolerant Control for AUVs Based on Replace Control

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 ...

Design of an Active Approach for Detection, Estimation and Short-Circuit Stator Fault Tolerant Control in Induction Motors

Three phase induction motors have many applications in industries. Consequently, detecting and estimating the fault and compensate it in a way that the faulty induction motor satisfies the predefined goals are important issues. One of the most common faults in induction motors is the short circuit of the stator winding. In this paper, an active fault-tolerant control system is designed and pres...

Study of the Supervisory Control Applied to an Auv

This paper presents and discusses a fault-tolerant control model on a autonomous underwater vehicle (AUV) with six thrusters, using five degrees of freedom. Simulations were made when there are no faults and when faults occur in two of the horizontal thrusters. The kinematics and dynamics of the vehicle and the thrusters are explained and it is given an introduction of automatons and how they w...

Robust Takagi-Sugeno sensor fault tolerant control strategy for nonlinear system