期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 69, 期 12, 页码 9485-9495出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2020.3003108
关键词
Uncertainty; Oceans; Fault tolerant control; Mathematical model; Unmanned underwater vehicles; Observers; Sea measurements; Active fault tolerant control; fault detection and isolation; sensor fault; unmanned underwater vehicle
资金
- National Natural Science Foundation of China [61973197, 61603222]
- Shandong University of Science and Technology Research Fund [2018YQJH101]
- 2019 Major Research Fund of Shandong Province of China [2019RKB01029]
- Research Fund for the Taishan Scholar Project of Shandong Province of China
In this article, we propose an active fault tolerant control (FTC) scheme to achieve trajectory tracking for unmanned underwater vehicle (UUV) subject to sensor faults and multiple uncertainties (including external disturbances and modeling errors). To make matters more challenging, it is assumed that the velocities (linear and angular) are unavailable. The proposed active FTC scheme includes a fault detection and isolation (FDI) unit and an FTC unit. The FDI is performed by an adaptive interval observer whose parameters are determined automatically by adaptive laws, relaxing the requirement on the bound of uncertainty. The FDI mechanism is if an output error exceeds its upper and lower bound estimates, then an alarm implying the corresponding sensor has a fault will be triggered. If the sensor is healthy, then the nominal controller is still adopted; otherwise, an FTC unit (where the real output of the faulty sensor is estimated as a linear representation of its upper and lower bounds) will be constructed to ensure the acceptable tracking performance of the faulty system. Finally, a simulation example is used to prove the efficacy of the proposed scheme.
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