Abstract
This paper addresses the problem of fault detection for unmanned underwater vehicles (UUVs). The design of a fault diagnosis system has been considered for Romeo, an overactuated prototype UUV, built and developed at the Naval Automation Institute, Genoa, Italy. Model-based residual generation has been addressed using the dynamic models identified to describe the motion of this vehicle. These models are affected by uncertainties, therefore robustness is of primary importance. Sliding-mode observers have been used as robust residual generators. The results obtained with real data of artificial faults using the extended Kalman filter and the sliding-mode observer are reported.
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