Hostname: page-component-848d4c4894-wzw2p Total loading time: 0 Render date: 2024-05-19T22:09:41.043Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive fault-tolerant control for an autonomous underwater vehicle

Published online by Cambridge University Press:  21 July 2022

Fahimeh S. Tabatabaee-Nasab Open the ORCID record for Fahimeh S. Tabatabaee-Nasab [Opens in a new window] ,
S. Ali A. Moosavian Open the ORCID record for S. Ali A. Moosavian [Opens in a new window]  and
Ali Keymasi Khalaji Open the ORCID record for Ali Keymasi Khalaji [Opens in a new window]
Fahimeh S. Tabatabaee-Nasab
Affiliation:
Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
S. Ali A. Moosavian
Affiliation:
Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Ali Keymasi Khalaji*
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University, Tehran, 15719-14911, Iran
*
*Corresponding author. E-mail: keymasi@khu.ac.ir
Get access Rights & Permissions [Opens in a new window]

Abstract

In recent years, using autonomous underwater vehicles (AUVs) for submarine missions has increased substantially. One of the problems in controlling these nonlinear devices is the possibility of a fault in the system operators. Failure causes increased operating costs and reduced vehicle performance. Therefore, the use of fault tolerance control is essential to ensure the stability and ability of the device to continue its activity. The focus of this article is on the trajectory tracking control for an underactuated AUV with actuator faults using kinematics and dynamics modeling. An adaptive rule is used as an online estimation to compensate for malfunctions in robot performance. In this regard, the adaptive fault-tolerant control plan is proposed, so that the closed-loop system is stable, and all control objectives are achievable. At first, the dynamic model of AUV with actuator fault and disturbance is described. Next, the control algorithm is designed for trajectory tracking in the presence of time-varying disturbances and actuator faults. The proposed adaptive rules will overcome disturbances and actuator faults. Finally, to illustrate the effectiveness of the proposed method, the provided controller is compared with other common control methods.

Keywords

adaptive fault-tolerant controltrajectory trackingactuator faultautonomous underwater vehicle (AUV)
Type
Research Article
Information
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 4076 - 4089
Copyright
© The Author(s), 2022. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Roth, S. A. and Batavia, P. H., “Evaluating Path Tracker Performance for Outdoor Mobile Robots,” In: Automation Technology for Off-Road Equipment Proceedings of the 2002 Conference (American Society of Agricultural and Biological Engineers, St. Joseph, MI, 2002) p. 388.Google Scholar
Dalla, V. K. and Pathak, P. M., “Curve-constrained collision-free trajectory control of hyper-redundant planar space robot,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 231(4), 282–298 (2017).Google Scholar
Dalla, V. K. and Pathak, P. M., “Power-optimized motion planning of reconfigured redundant space robot,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 233(8), 1030–1044 (2019).Google Scholar
Tabataba’i-Nasab, F. S., Moosavian, S. A. A. and Khalaji, A. K., “Tracking Control of an Autonomous Underwater Vehicle: Higher-Order Sliding Mode Control Approach,” 2019 7th International Conference on Robotics and Mechatronics (ICRoM) (2019) pp. 114–119.Google Scholar
Corradini, M. L., Monteriu, A. and Orlando, G., “An actuator failure tolerant control scheme for an underwater remotely operated vehicle,” IEEE Trans. Control Syst. Technol 19(5), 1036–1046 (2011).CrossRefGoogle Scholar
Chu, Z. Z. and Zhang, M. J., “Fault reconstruction of thruster for autonomous underwater vehicle based on terminal sliding mode observer,” Ocean Eng. 88, 426–434 (2014). doi: 10.1016/j.oceaneng.2014.06.015.CrossRefGoogle Scholar
Liu, X., Zhang, M. and Yao, F., “Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle,” Ocean Eng. 155(2), 10–23 (2018).CrossRefGoogle Scholar
Chen, L., Li, X., Xiao, W., Li, P. and Zhou, Q., “Fault-tolerant control for uncertain vehicle active steering systems with time-delay and actuator fault,” Int. J. Control Autom. Syst. 17(9), 2234–2241 (2019).CrossRefGoogle Scholar
Du, D., Yang, Y., Zhao, H. and Tan, Y., “Robust fault diagnosis observer design for uncertain switched systems,” Int. J. Control Autom. Syst. 18(12), 3159–3166 (2020).CrossRefGoogle Scholar
Hao, L. Y., Zhang, H., Yue, W. and Li, H., “Fault-tolerant compensation control based on sliding mode technique of unmanned marine vehicles subject to unknown persistent Ocean Disturbances,” Int. J. Control Autom. Syst. 18(3), 739–752 (2020).CrossRefGoogle Scholar
Guo, B. and Chen, Y., “Robust adaptive fault tolerant control of four wheel independently actuated Electric vehicles,” IEEE Trans. Ind. Inform. 16(5), 2882–2894 (2019).CrossRefGoogle Scholar
Ma, Y., Cocquempot, V., El Najjar, M. E. B. and Jiang, B., “Adaptive compensation of multiple actuator faults for two physically linked 2WD robots,” IEEE Trans. Robot. 34(1), 248–255 (2017).CrossRefGoogle Scholar
Xu, B., Qi, R. and Jiang, B., “Adaptive fault-tolerant control for HSV with unknown control direction,” IEEE Trans. Aerosp. Electron. Syst. 55(6), 2743–2758 (2019).CrossRefGoogle Scholar
Yang, Y. and Yue, D., “Adaptive decentralized fault-tolerant tracking control of a class of uncertain large-scale nonlinear systems with actuator faults,” Trans. Inst. Meas. Control 40(3), 831–842 (2018).CrossRefGoogle Scholar
Li, H., You, F., Wang, F. and Guan, S., “Robust fast adaptive fault estimation and tolerant control for T-S fuzzy systems with interval time-varying delay,” Int. J. Syst. Sci. 48(8), 1708–1730 (2017).CrossRefGoogle Scholar
Liu, C. and Jiang, B., “H∞ fault-tolerant control for time-varied actuator fault of nonlinear system,” Int. J. Syst. Sci. 45(12), 2447–2457 (2014).CrossRefGoogle Scholar
Rahme, S. and Meskin, N., “Adaptive sliding mode observer for sensor fault diagnosis of an industrial gas turbine,” Control Eng. Pract. 38, 57–74 (2015).CrossRefGoogle Scholar
Alwi, H., Edwards, C. and Marcos, A., “Fault reconstruction using a LPV sliding mode observer for a class of LPV systems,” J. Franklin Inst. Eng. Appl. Math. 349(2), 510–530 (2012).CrossRefGoogle Scholar
Yan, X. G. and Edwards, C., “Nonlinear robust fault reconstruction and estimation using a sliding mode observer,” Automatica 43(9), 1605–1614 (2007).CrossRefGoogle Scholar
Veluvolu, K. C., Defoort, M. and Soh, Y. C., “High-gain observer with sliding mode for nonlinear state estimation and fault reconstruction,” J. Franklin Inst. Eng. Appl. Math. 351(4), 1995–2014 (2014).CrossRefGoogle Scholar
Tan, C. P., Yu, X. H. and Man, Z. H., “Terminal sliding mode observers for a class of nonlinear systems,” Automatica 46(8), 1401–1404 (2010).CrossRefGoogle Scholar
Moreno, J. A. and Osorio, M., “A Lyapunov Approach to Second-Order Sliding Mode Controllers and Observers,” In: 2008 47th IEEE Conference on Decision and Control (2008) pp. 2856–2861.Google Scholar
Shrivastava, A. and Dalla, V. K., “Failure control and energy optimization of multi-axes space manipulator through genetic algorithm approach,” J. Braz. Soc. Mech. Sci. 43(10), 1–17 (2021).Google Scholar
Karras, G. C., Loizou, S. G. and Kyriakopoulos, K. J., “Towards semi-autonomous operation of under-actuated underwater vehicles: Sensor fusion, on-line identification and visual servo control,” Auton. Robot. 31(1), 67–86 (2011).CrossRefGoogle Scholar
Moosavian, S. A. A., Khalaji, A. K. and Tabataba’i-Nasab, F. S., “Tracking Control of an Underwater Robot in the Presence of Obstacles,” In: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) (2017).Google Scholar
Hamayun, M. T., Edwards, C. and Alwi, H.. An Augmentation Scheme for Fault Tolerant Control Using Integral Sliding Modes (Springer, Cham, 2016) pp. 103–121.CrossRefGoogle Scholar
Maki, M., Jiang, J. and Hagino, K., “A stability guaranteed active fault-tolerant control system against actuator failures,” Int. J. Robust Nonlinear Control 14(12), 1061–1077 (2004).CrossRefGoogle Scholar
Wu, L.-B., Yang, G.-H. and Ye, D., “Robust adaptive fault-tolerant control for linear systems with actuator failures and mismatched parameter uncertainties,” IET Control Theory Appl. 8(6), 441–449 (2014).CrossRefGoogle Scholar
Xiao, B., Hu, Q. and Friswell, M. I., “Robust fault tolerant control for spacecraft attitude stabilization under actuator faults and bounded disturbance,” J. Dyn. Syst. Meas. Control 133(5), 051006 (2011).CrossRefGoogle Scholar
Yu, X. and Jiang, J., “Hybrid fault-tolerant flight control system design against partial actuator failures,” IEEE Trans. Control Syst. Technol. 20(4), 871–886 (2011).CrossRefGoogle Scholar
Kamel, M. A., Yu, X. and Zhang, Y., “Fault-tolerant cooperative control design of multiple wheeled mobile robots,” IEEE Trans. Control Syst. Technol. 26(2), 756–764 (2017).CrossRefGoogle Scholar
Tabataba’i-Nasab, F. S., Keymasi Khalaji, A. and Moosavian, S. A. A., “Adaptive nonlinear control of an autonomous underwater vehicle,” Trans. Inst. Meas. Control 41(11), 3121–3131 (2019). doi: 10.117/0142331218823869.CrossRefGoogle Scholar