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Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem emp...

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Autori principali: Romano Capocci, Edin Omerdic, Gerard Dooly, Daniel Toal
Natura: Artigo
Lingua:Inglês
Pubblicazione: MDPI AG 2018-04-01
Serie:Journal of Marine Science and Engineering
Soggetti:
fault-tolerant control
thruster fault
fault detection and isolation
fault accommodation
ROV
remotely operated vehicle
underwater vehicle
Accesso online:http://www.mdpi.com/2077-1312/6/2/40
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