Chinese Journal of Ship Research, Volume. 17, Issue 5, 175(2022)

Nonlinear observer-based adaptive thruster allocation for thruster fault tolerant control of over-actuated UUV

Guandao WANG, Xianbo XIANG, Jinjiang LI, and Shaolong YANG
Author Affiliations
  • School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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    References(12)

    [7] GARCÍA-VALDOVINOS L G, SALGADO-JIMENEZ T, BANDALA-SÁNCHEZ M et al. Modelling, design and robust control of a remotely operated underwater vehicle[J]. International Journal of Advanced Robotic Systems, 11, 10-25(2014).

    [10] [10] CRADINI M L, MONTERI A, LO G, et al. An actuat failure tolerant robust control approach f an underwater remotely operated vehicle[C]2011 50th IEEE Conference on Decision Control European Control Conference. lo: IEEE, 2011: 3934–3939.

    [12] [12] YANG K C, YUH J, SONG K C. Experimental study of faulttolerant system design f underwater robots[C]IEEE International Conference on Robotics & Automation. Leuven, Belgium: IEEE, 1998: 1051–1056.

    [14] [14] AKRAM W, TEDESCO F, CASAVOLA A. Adaptive faulttolerant control allocation schemes f overactuated systems with actuat bias faults[C]17th International Conference on Infmatics in Control, Automation Robotics. Paris, France: SciTePress, 2020: 81–88.

    [18] [18] FOSSEN T I. Guidance control of ocean vehicles[M]. Hoboken: Willy, 1994: 57–59.

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    Guandao WANG, Xianbo XIANG, Jinjiang LI, Shaolong YANG. Nonlinear observer-based adaptive thruster allocation for thruster fault tolerant control of over-actuated UUV[J]. Chinese Journal of Ship Research, 2022, 17(5): 175

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    Paper Information

    Category: Ship Design and Performance

    Received: Oct. 26, 2021

    Accepted: --

    Published Online: Mar. 26, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.02571

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