Review paper
Dynamic surface fault tolerant control for underwater remotely operated vehicles
Abstract
In this paper, we present a two stages actuator Fault Tolerant Control (FTC) strategy for the trajectory tracking of a Remotely Operated Vehicle (ROV). Dynamic Surface Control (DSC) is used to generate the moment and forces required by the vehicle to perform the desired motion. In the second stage of the control system, a fault tolerant thruster allocation policy is employed to distribute moment and forces among the thrusters. Exhaustive...
Paper Details
Title
Dynamic surface fault tolerant control for underwater remotely operated vehicles
Published Date
Jul 1, 2018
Journal
Volume
78
Pages
10 - 20
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