Dynamic surface fault tolerant control for underwater remotely operated vehicles

Alessandro Baldini; Lucio Ciabattoni; Riccardo Felicetti; Francesco Ferracuti; Alessandro Freddi; Andrea Monteriù

doi:10.1016/j.isatra.2018.02.021

Dynamic surface fault tolerant control for underwater remotely operated vehicles

ISA Trans. 2018 Jul:78:10-20. doi: 10.1016/j.isatra.2018.02.021. Epub 2018 Mar 1.

Authors

Alessandro Baldini¹, Lucio Ciabattoni¹, Riccardo Felicetti¹, Francesco Ferracuti¹, Alessandro Freddi¹, Andrea Monteriù²

Affiliations

¹ Università Politecnica delle Marche, Via Brecce Bianche, 60131, Ancona, Italy.
² Università Politecnica delle Marche, Via Brecce Bianche, 60131, Ancona, Italy. Electronic address: a.monteriu@univpm.it.

PMID: 29503009
DOI: 10.1016/j.isatra.2018.02.021

Abstract

In this paper, we present a two stages actuator Fault Tolerant Control (FTC) strategy for the trajectory tracking of a Remotely Operated Vehicle (ROV). Dynamic Surface Control (DSC) is used to generate the moment and forces required by the vehicle to perform the desired motion. In the second stage of the control system, a fault tolerant thruster allocation policy is employed to distribute moment and forces among the thrusters. Exhaustive simulations have been carried out in order to compare the performance of the proposed solution with respect to different control techniques (i.e., PID, backstepping and sliding mode approaches). Saturations, actuator dynamics, sensor noises and time discretization are considered, in fault-free and faulty conditions. Furthermore, in order to provide a fair and exhaustive comparison of the control techniques, the same meta-heuristic approach, namely Artificial Bee Colony algorithm (ABC), has been employed to tune the controllers parameters.

Keywords: Dynamic surface control; Fault tolerant control; Remotely operated vehicle.