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Fault-tolerant control for ROVs using control reallocation and power isolation

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dc.contributor.author Capocci, Romano
dc.contributor.author Omerdić, Edin
dc.contributor.author Dooly, Gerard
dc.contributor.author Toal, Daniel
dc.date.accessioned 2018-07-31T09:50:52Z
dc.date.available 2018-07-31T09:50:52Z
dc.date.issued 2018
dc.identifier.uri http://hdl.handle.net/10344/7008
dc.description peer-reviewed en_US
dc.description.abstract This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of the ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios. en_US
dc.language.iso eng en_US
dc.publisher MDPI en_US
dc.relation.ispartofseries Journal of Marine Science and Engineering; 6 ( 40 )
dc.subject fault-tolerant control en_US
dc.subject thruster fault en_US
dc.subject fault detection and isolation en_US
dc.subject fault accommodation en_US
dc.subject ROV en_US
dc.subject remotely operated vehicle en_US
dc.subject underwater vehicle en_US
dc.title Fault-tolerant control for ROVs using control reallocation and power isolation en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.3390/jmse6020040
dc.contributor.sponsor SFI en_US
dc.relation.projectid 12/RC/2302 en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US


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