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

被引：0
作者：
Ruikun Xu
Guoyuan Tang
Daomin Huang
De Xie
Lijun Han
机构：
[1] Huazhong University of Science and Technology,School of Naval Architecture and Ocean Engineering
[2] Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration (CISSE),undefined
[3] Air Force Early Warning Academy,undefined
来源：
Journal of Marine Science and Technology | 2020年 / 25卷
关键词：
Underwater vehicle control; Control moment gyros; Attitude control; Fault-tolerant control; Adaptive control;
D O I：
暂无
中图分类号：
学科分类号：
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：7
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