The thrusters provide propulsion support for the underwater motion of the ROV. In order to enhance the reliability and safety of the ROV, this paper focuses on a redundant thruster ROV model and proposes a passive fault-tolerant controller based on HJI (Hamilton-Jacobi Inequality) and integral sliding mode. Through Lyapunov stability analysis and numerical simulation, it is demonstrated that the designed passive fault-tolerant controller can maintain the motion state of the ROV in the event of thruster failure without fault information.


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    Titel :

    Fault-Tolerant Control of ROV Based on HJI Integral Sliding Mode


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Liu, Lianqing (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Fu, Wenxing (Herausgeber:in) / Qu, Yi (Herausgeber:in) / Liu, Menglian (Autor:in) / Yu, Shuangjiang (Autor:in) / Xu, Hongli (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024



    Erscheinungsdatum :

    12.04.2025


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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