水下机器人传感器容错控制技术的研究

Sensor Fault-Tolerant Control of an Autonomous Underwater Vehicle

在分析水下机器人的解耦控制器及传感器系统的基础上,探讨了传感器出现故障时采用以滑模观测器输出代替传感器输出的容错控制(又叫取代控制)策略.对于传感器出现的无法修复性故障,这种策略最小化了其带给机器人的损伤.对于传感器出现的跳变故障,则在跳变故障的时间内采用取代控制.仿真结果表明了方法的有效性.

This paper analyzes the decoupling controller and sensor system of an Autonomous Underwater Vehicle （ AUV ）, and proposes a fault-tolerant control （ also called substituting control） strategy based on the ideas of replacing the fault sensor outputs by the sliding-mode observer outputs. For the irrecoverable sensor faults, this strategy minimizes its damage to the AUV. For the jumping faults of sensors, substituting control is used during jumping. The simulation result proves the validity of this strategy.