%0 Journal Article
%T An Active Fault-Tolerant Control Method Ofunmanned Underwater Vehicles with Continuous and Uncertain Faults
%A Daqi Zhu
%A Qian Liu
%A Yongsheng Yang
%J International Journal of Advanced Robotic Systems
%D 2008
%I InTech
%X This paper introduces a novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with abrupt faults. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC(Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse to find the solution of the control allocation problem. To illustrate the proposed method effective, simulation example, under multi-uncertain abrupt faults, is given in the paper.
%K Fault diagnosis
%K Fault-tolerant control
%K Underwater Vehicles
%K Thruster
%K Biomimetic
%U http://www.intechopen.com/articles/show/title/an_active_fault-tolerant_control_method_ofunmanned_underwater_vehicles_with_continuous_and_uncertain