Fault-tolerant control of underwater vehicle Model1000

作者：Yuan Fang; Ye Yinzhong; Zhu Daqi^*

来源：Journal of Nanjing University of Aeronautics & Astronautics, 2011, 43(SUPPL.1): 186-189.

• Fault identifications
• Fault tolerant control
• Recurrent cerebellar model articulation controllers
• Underwater vehicles

A fault identification and fault-tolerant control method based on the on-line adjusted recurrent cerebellar model articulation controller(RCMAC) is applied to ensure the reliability of the underwater vehicle in the complicated ocean surroundings. Various kinds of sensor and thruster faults underwater experiments are designed to the OUTLAND remote operated vehicle model1000. Finally, the efficiency of the underwater vehicle faults identification and fault-tolerant control with the RCMAC is testified by the experiment results.

• 出版日期2011
• 单位上海海事大学