Fault-tolerant system design of an autonomous underwater vehicle - ODIN: an experimental study

被引：34

作者：

Yang, KCH ^{[1
]}

Yuh, J ^{[1
]}

Choi, SK ^{[1
]}

机构：

[1] Univ Hawaii, Autonomous Syst Lab, Dept Mech Engn, Honolulu, HI 96822 USA

来源：

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 1999年 / 30卷 / 09期

关键词：

Computer systems programming - Control system analysis - Control system synthesis - Fault tolerant computer systems - Intelligent control - Sensors;

D O I：

10.1080/002077299291877

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the design and implementation of a fault-tolerant system for Omni-Directional Intelligent Navigator (ODIN), a six-degree-of-freedom autonomous underwater vehicle (AUV) designed at the University of Hawaii. A fault-tolerant system consists of three areas: fault detection, fault isolation and fault accommodation. Each area is described, and methods discussed in the literature are briefly reviewed. The presented design focuses on the thruster (or actuator) and sensor system failures in an AUV. Experimental results show that the presented approach is practical and effective when tolerable failures in actuators and sensors occur. This methodology and concept can be extended to fault-tolerant system design for various AUVs with hardware redundancy.

引用

页码：1011 / 1019

页数：9