A Model-based Active Fault Tolerant Control Scheme for a Remotely Operated Vehicle

An active failure and fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work. The proposed solution is based on a fault tolerant allocation, which takes into account an estimate of the faults on the vehicle’s thrusters for an accurate redistribution of the control effort. The diagnosis is based on a sliding mode observer, which generates three residuals and allows to evaluate the health condition of...