Thruster Fault-Tolerant Control : Thruster Fault Diagnosis and Accommodation System for Underwater Vehicles

ISBN-13: 9783639117394 / Angielski / Miękka / 2009 / 300 str.

Edin Omerdic

Opis

Remotely operated underwater vehicles are used fordifferent tasks (survey, exploration, salvage etc.).However, these vehicles are liable to faults orfailures during missions. Thrusters are one of themost common and most important sources of faults. Inall but the most trivial cases the existence of afault may lead to cancelling the mission. Theimplication of small faults can be very expensive(ship time is very costly) and time consuming. Alarge number of underwater vehicles representoveractuated control systems, i.e. they have four ormore horizontal thrusters for the motion in thehorizontal plane in three DOF (surge, sway and yaw).For this class of vehicle this book introduces anovel thruster Fault Diagnosis and AccommodationSystem (FDAS), with the ability of automatic thrusterfault detection and accommodation. It shows you how,in the case of a partial or total fault in athruster, to reconfigure the control system in anoptimal manner, in order to maintain a high level ofmanoeuvrability of the faulty vehicle and completethe mission. With this book you get all you need toenhance your existing ROV control system withthruster fault-tolerant capabilities.

O autorze

Edin Omerdic received Dipl. Eng. and M.S. degree from the
University of Zagreb in 1997 and 2001, and Ph.D. from the
University of Wales, Newport, United Kingdom in 2004. He is
currently a Senior Research Fellow for Ocean System Modelling,
Charles Parsons Initiative, at the Mobile & Marine Robotics
Research Centre, University of Limerick, Ireland.