Year: 2024
Type: article
Abstract: The article discusses the problem of adaptive system synthesis to provide the detection, estimation, and elimination of the negative consequences of faults in the thrusters of underwater robots and deviations of their parameters. For this purpose, an approach consisting of three stages is proposed. At the first stage, based on a bank of diagnostic observers, deviations of the thruster parameters from their nominal values or the occurrence of errors in the readings of its sensors are detected. At the second stage, the magnitudes of the detected deviations and errors are estimated using sliding mode observers. To estimate not only single but also multiple faults, the additional sliding mode observers are used. At the third stage, a control signal is generated to retain the basic dynamic properties of the thruster based on the estimated magnitudes of deviations and errors. Thus, the main contribution of this paper is designing the systems compensating for the consequences of faults occurring in the thrusters of the UR and errors in the readings of the angular velocity sensors. This avoids reducing the accuracy of movement along specified trajectories, as well as preventing accidents that could lead to the loss of the vehicle. The operability and efficiency of the proposed systems were tested using computer simulations and experimental studies on an electro-mechanical stand.
DOI: 10.3390/jmse12101836
Institutions: Guangdong Ocean University, Institute of Automation and Control Processes, Far Eastern Branch of the Russian Academy of Sciences, Sevastopol State University, Institute of Marine Technology Problems of the Far-Eastern Branch of the Russian Academy of Sciences, Far Eastern Federal University
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4403390060