Fault Tolerant Control in Underwater Vehicles
Open accessAbstract
The article discusses the problem of adaptive system synthesis to provide the detection, estimation, and elimination of the negative consequences of faults in the thrusters of underwater robots and deviations of their parameters. For this purpose, an approach consisting of three stages is proposed. At the first stage, based on a bank of diagnostic observers, deviations of the thruster parameters from their nominal values or the occurrence of errors in the readings of its sensors are detected. At the second stage, the magnitudes of the detected deviations and errors are estimated using sliding mode observers. To estimate not only single but also multiple faults, the additional sliding mode observers are used. At the third stage, a control signal is generated to retain the basic dynamic properties of the thruster based on the estimated magnitudes of deviations and errors. Thus, the main contribution of this paper is designing the systems compensating for the consequences of faults occurring in the thrusters of the UR and errors in the readings of the angular velocity sensors. This avoids reducing the accuracy of movement along specified trajectories, as well as preventing accidents that could lead to the loss of the vehicle. The operability and efficiency of the proposed systems were tested using computer simulations and experimental studies on an electro-mechanical stand.
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In underwater systems, robust actuator uptime is achieved using a 6-DoF model.
“In underwater systems, robust actuator uptime is achieved using a 6-DoF model [54]”
From Hybrid Fault-Tolerant Control in Cooperative Robotics: Advances in Resilience and Scalability (2025) · cites this paper as [54]
The Abstract describes a control system that compensates for thruster faults and retains the thruster’s basic dynamic properties, supporting the general fault-tolerance point. Section 2.1 models an individual thruster rather than identifying a 6-DoF model as the means of achieving actuator uptime; the paper does not establish an uptime guarantee. (LLM, conf=0.85)
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Flagged first, then by citations
Research works printed but not linked: 4
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- Authors
- Liu, C., Filaretov, V., Zuev, A., Protsenko, A., & Zhirabok, A.
- Affiliations
- Guangdong Ocean University (CN)
- Institute of Automation and Control Processes (RU)
- Institute of Marine Technology Problems of the Far-Eastern Branch of the Russian Academy of Sciences (RU)
- Far Eastern Federal University (RU)
- Corresponding author
- Liu, Chang
- Venue
- Journal of Marine Science and Engineering
- Publisher
- MDPI AG
- Published
- 2024-10-14
- Volume
- 12
- Issue
- 10
- Pages
- 1836
- ISSN
- 2077-1312 (ISSN-L)
- OpenAlex
- W4403390060
- Cited by
- 8
- References
- 45
- Citations by year
- 2026: 5 · 2025: 3
- FWCI
- 1.39
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Licence
- Locations
- Journal of Marine Science and Engineering (publishedVersion, cc-by)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion)
- Funders
- Russian Scientific Foundation (22-19-00392)
- Topics
- Physical Sciences › Engineering › Ocean Engineering › Underwater Vehicles and Communication Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Fault Detection and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- fault-tolerant control, underwater vehicles, underwater robots, thruster faults, fault detection, fault estimation, sliding mode observer, bank of observers, sensor error compensation, trajectory tracking, adaptive control
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