Abstract
This paper looks at the implementation of a Sliding Mode Observer (SMO) based Reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicle (AUV). In this paper the reconfigurability aspects are considered for the heading controller. Simulation responses are used to illustrate that the Sliding Mode Observer is able to give state information to the controller when there is a fault in the AUV’s sensor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system.
Highlights
Autonomous Underwater Vehicles (AUVs) are submersible robots that operate independently without human intervention [1, 2, 3]
All of the simulations have been carried out using the full 6-degrees of freedom (DOF) model at a depth of 40 m and with the AUV travelling at 1.7 m/s
From this it can be seen that the AUV loses the ability to follow the desired heading completely with the model of the AUV breaking down just after 200 s has elapsed
Summary
Autonomous Underwater Vehicles (AUVs) are submersible robots that operate independently without human intervention [1, 2, 3] These vehicles have a multitude of uses including maintenance, diver support, pipeline inspection and geological surveying. As many of these tasks require the AUV to operate in close proximity to obstacles and hazards, it is imperative that their motion is accurately controlled. The reconfiguration method that is used in this paper makes use of a nonlinear Sliding Mode Observer (SMO) [4, 5, 6]. The fourth section gives results of the SMOs reconfiguring the system against faults injected into the system before the final section gives the conclusions
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