Fault tolerant control of autonomous underwater vehicles

dc.contributor.author	Perrault, Douglas Edward	en_US
dc.date.accessioned	2024-08-15T17:15:16Z
dc.date.available	2024-08-15T17:15:16Z
dc.date.copyright	1998	en_US
dc.date.issued	1998
dc.degree.department	Department of Mechanical Engineering
dc.degree.level	Master of Applied Science M.A.Sc.	en
dc.description.abstract	Autonomous underwater vehicles (AUV's) are used for ocean exploration and underwater research. For practical usage of these vehicles, there must be some form of fault recovery/fault tolerance in the control system. This work explores an adaptation of existing theory for synthesizing controls in the event of partial failure of the nominal control system. This control method will synthesize small motions in a given unactuated direction via open loop control of motions in actuated directions. Our goal is to determine the usefulness of the method for a typical streamlined vehicle in which control forces are generated by control planes rather than directly with thrusters. Using these algorithms in their present form, we find that the righting moment of the vehicle interferes with the achievement of the desired motions. However, motion synthesis can be achieved on a modified model that has no righting moment.
dc.format.extent	123 pages
dc.identifier.uri	https://hdl.handle.net/1828/19281
dc.rights	Available to the World Wide Web	en_US
dc.title	Fault tolerant control of autonomous underwater vehicles	en_US
dc.type	Thesis	en_US

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