| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 710527 | IFAC Proceedings Volumes | 2009 | 6 Pages |
Abstract
This paper presents a preliminary set of results on the design of an Actuator Failure Tolerant Control Systems for an underwater remotely operated vehicle (ROV). The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV for failure detection purposes. Successively, using a Sliding Mode Control based approach, the failure is isolated and the control law is reconfigured using the remaining working actuators.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
