Multivariable Robust Fault Tolerant Control For Work-Class Remotely Operated Vehicle

  • Zhaoqiang Wang Department of Automobile Service Engineering, School of Automotive Engineering, Shanghai University of Engineering Science, China
  • Zhen Wang Department of Automobile Service Engineering, School of Automotive Engineering, Shanghai University of Engineering Science, China
  • Mingen Wu Department of Automobile Service Engineering, School of Automotive Engineering, Shanghai University of Engineering Science, China
  • Yiping Luo Department of Automobile Service Engineering, School of Automotive Engineering, Shanghai University of Engineering Science, China

Abstract

To deal with complex disturbances and the presence of partial loss of propeller effectiveness in work-class remotely operated vehicles (ROVs), a method of robust fault tolerant control is proposed, which is based on adaptive sliding mode control. In this approach, adaptive technique is employed to estimate the bounds’ information of external complex disturbances and the effectiveness loss of the propeller. And a sliding mode controller is then designed to achieve fault tolerant control and external disturbance rejection. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Apply this method to trajectory tracking control of work-class ROVs, the simulation results validate that great fault tolerant capability and a good performance of external disturbance rejection can be achieved even under partial loss of propeller effectiveness.

Keywords: work-class remotely operated vehicle, partial loss of propeller effectiveness, robust fault tolerant control, sliding mode control, multivariable control
Published online
2017-03-29
How to Cite
Wang, Z., Wang, Z., Wu, M. and Luo, Y. (2017) “Multivariable Robust Fault Tolerant Control For Work-Class Remotely Operated Vehicle”, Periodica Polytechnica Mechanical Engineering, 61(2), pp. 87-93. https://doi.org/10.3311/PPme.9312.
Section
Articles