Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation
This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem emp...
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doaj-b07f26ceeb4946979fb354485f0a3de42021-04-02T07:25:53ZengMDPI AGJournal of Marine Science and Engineering2077-13122018-04-01624010.3390/jmse6020040jmse6020040Fault-Tolerant Control for ROVs Using Control Reallocation and Power IsolationRomano Capocci0Edin Omerdic1Gerard Dooly2Daniel Toal3CRIS—Centre for Robotics & Intelligent Systems, University of Limerick, Castletroy, Limerick V94 T9PX, IrelandCRIS—Centre for Robotics & Intelligent Systems, University of Limerick, Castletroy, Limerick V94 T9PX, IrelandCRIS—Centre for Robotics & Intelligent Systems, University of Limerick, Castletroy, Limerick V94 T9PX, IrelandCRIS—Centre for Robotics & Intelligent Systems, University of Limerick, Castletroy, Limerick V94 T9PX, IrelandThis paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of the ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios.http://www.mdpi.com/2077-1312/6/2/40fault-tolerant controlthruster faultfault detection and isolationfault accommodationROVremotely operated vehicleunderwater vehicle |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Romano Capocci Edin Omerdic Gerard Dooly Daniel Toal |
spellingShingle |
Romano Capocci Edin Omerdic Gerard Dooly Daniel Toal Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation Journal of Marine Science and Engineering fault-tolerant control thruster fault fault detection and isolation fault accommodation ROV remotely operated vehicle underwater vehicle |
author_facet |
Romano Capocci Edin Omerdic Gerard Dooly Daniel Toal |
author_sort |
Romano Capocci |
title |
Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation |
title_short |
Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation |
title_full |
Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation |
title_fullStr |
Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation |
title_full_unstemmed |
Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation |
title_sort |
fault-tolerant control for rovs using control reallocation and power isolation |
publisher |
MDPI AG |
series |
Journal of Marine Science and Engineering |
issn |
2077-1312 |
publishDate |
2018-04-01 |
description |
This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of the ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios. |
topic |
fault-tolerant control thruster fault fault detection and isolation fault accommodation ROV remotely operated vehicle underwater vehicle |
url |
http://www.mdpi.com/2077-1312/6/2/40 |
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