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Vol. 158, Issue 11, November 2013, pp. 408-413




Sensor Fault Tolerant Control for AUVs Based on Replace Control
1 Xiao LIANG, 2 Jundong ZHANG, 3 Wei LI

1 College of Traffic Equipment and Ocean Engineering, Dalian Maritime University, China

2 College of Marine Engineering, Dalian Maritime University, China

3 College of Environmental Science and Engineering, Dalian Maritime University, China

1 Tel.: +86-0411-84727985

1 E-mail: liangxiao19801012@126.com


Received: 28 August 2013   /Accepted: 25 October 2013   /Published: 30 November 2013

Digital Sensors and Sensor Sysstems


Abstract: To improve the reliability of the motion control system for an autonomous underwater vehicle (AUV), sensor fault tolerant control based on replace control was talked about. This paper analyzed the decoupling controller and the sensor system firstly, and proposed a fault tolerant control strategy based on the ideas of replacing the fault sensor outputs by the sliding-mode observer outputs (also called replace control). For the irrecoverable sensor faults, the strategy minimized the damage to the AUV. For the jumping faults of sensors, replace control is used during jumping. The simulation results proved the validity of the strategy.


Keywords: Autonomous underwater vehicle (AUV), Decoupling control, Sensor fault tolerant control, Replace control, Sliding-mode observer.


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