Adaptive fault-tolerant attitude control for a CMG-based underwater vehicle

被引:5
作者
Xu, Ruikun [1 ]
Tang, Guoyuan [1 ,2 ]
Huang, Daomin [3 ]
Xie, De [1 ,2 ]
Han, Lijun [1 ]
机构
[1] Huazhong Univ Sci & Technol, Sch Naval Architecture & Ocean Engn, Wuhan 430074, Hubei, Peoples R China
[2] Collaborat Innovat Ctr Adv Ship & Deep Sea Explor, Shanghai 200240, Peoples R China
[3] Air Force Early Warning Acad, Wuhan 430019, Hubei, Peoples R China
基金
中国国家自然科学基金;
关键词
Underwater vehicle control; Control moment gyros; Attitude control; Fault-tolerant control; Adaptive control; SPACECRAFT;
D O I
10.1007/s00773-019-00681-w
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper proposes a fault-tolerant control strategy for the attitude control problem of a CMG-based underwater vehicle based on the adaptive sliding mode control method and Lyapunov stability theory. First, a fault-tolerant control model is presented for the quaternion-based attitude kinematic equations combined with a pyramid control moment gyroscope (CMG) system. Second, considering the momentum singularity and input saturation constraint problem, adaptive control method is inspired to estimate the model uncertainties and actuator failures under some basic assumptions. Subsequently, the proposed controller is derived from backstepping-based design techniques and its feasibility is complemented by the remarks. Finally, its efficiency and robustness are illustrated in simulation results to against the uncertainties and disturbances.
引用
收藏
页码:800 / 807
页数:8
相关论文
共 26 条
  • [11] Adaptive Fault-Tolerant Tracking Control for MIMO Discrete-Time Systems via Reinforcement Learning Algorithm With Less Learning Parameters
    Liu, Lei
    Wang, Zhanshan
    Zhang, Huaguang
    [J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2017, 14 (01) : 299 - 313
  • [12] Double-model adaptive fault detection and diagnosis applied to real flight data
    Lu, Peng
    Van Eykeren, Laurens
    van Kampen, Erik-Jan
    de Visser, Coen
    Chu, Qiping
    [J]. CONTROL ENGINEERING PRACTICE, 2015, 36 : 39 - 57
  • [13] Control reconfiguration after actuator failures using disturbance decoupling methods
    Lunze, Jan
    Steffen, Thomas
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2006, 51 (10) : 1590 - 1601
  • [14] Mony A, 2016, 2016 INDIAN CONTROL CONFERENCE (ICC), P304, DOI 10.1109/INDIANCC.2016.7441144
  • [15] Noumi A., 2013, AIAA GUIDANCE NAVIGA, P3, DOI [10.2514/6.2013-5119, DOI 10.2514/6.2013-5119]
  • [16] Fault Tolerant Control of a Quadrotor UAV using Sliding Mode Control
    Sharifi, Farid
    Mirzaei, Mostafa
    Gordon, Brandon W.
    Zhang, Youmin
    [J]. 2010 CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL'10), 2010, : 239 - 244
  • [17] Zero-G class underwater robots: Unrestricted attitude control using control moment gyros
    Thornton, Blair
    Ura, Tarnaki
    Nose, Yoshiaki
    Turnock, Stephen
    [J]. IEEE JOURNAL OF OCEANIC ENGINEERING, 2007, 32 (03) : 565 - 583
  • [18] Singularity analysis and visualization for single-gimbal control moment gyro systems
    Wie, B
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2004, 27 (02) : 271 - 282
  • [19] Underactuated tracking control of underwater vehicles using control moment gyros
    Xu, Ruikun
    Tang, Guoyuan
    Xie, De
    Huang, Daomin
    Han, Lijun
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (01):
  • [20] XU Zhengwu, 2014, THESIS