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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Liu, Lianqing (editor) / Niu, Yifeng (editor) / Fu, Wenxing (editor) / Qu, Yi (editor) / Liu, Menglian (author) / Yu, Shuangjiang (author) / Xu, Hongli (author)

    Conference:

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



    Publication date :

    2025-04-12


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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