The development of AUV control system with accommodation to thruster faults

Vladimir F. Filaretov
Doctor of Technical Science, Professor, Institute of Automation and Control Processes, Head of Robotic Systems Laboratory, 5, Radio ul., Vladivostok, 690041, Russia; Far Eastern Federal University, Head of Department, 10, poselok Ayaks, Russky Island, Vladivostok, 690041, Russia, tel.: +7(423)231-37-83, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-8900-8081

Dmitry A. Yukhimets
Doctor of Technical Science, Associate Professor, Institute of Automation and Control Processes, Leading Research Scientist, 5, Radio ul., Vladivostok, 690041, Russia; Far Eastern Federal University, Assistant Professor, 10, poselok Ayaks, Russky Island, Vladivostok, 690041, Russia, tel.: +7(423)251-96-87, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-2676-9902

Aleksandr V. Zuev
PhD in Technical Sciences, Associate Professor, Institute for Problems of Marine Technologies, Leading Research Scientist, 5-A, ul. Sukhanova, Vladivostok, 690041, Russia; Far Eastern Federal University, Assistant Professor, 10, poselok Ayaks, Russky Island, Vladivostok, 690041, Russia, tel.: +7(914)961-77-35, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-0934-6222

Alexey N. Zhirabok
Doctor of Technical Science, Professor, Far Eastern Federal University, Professor, 10, poselok Ayaks, Russky Island, Vladivostok, 690041, Russia, tel.: +7(924)234-58-95, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-5927-7117

Received 21 September 2021

Abstract
A new method for the synthesis of AUV control system for high-precision and highly reliable spatial motion is proposed. The feature of these control systems is that they include an additional accommodation circuit that provides timely detection, determination of the magnitude and compensation for the consequences of the appearance of minor faults that occur in the AUV thrusters. The simulation results confirmed the efficiency and high quality of the synthesized systems.

Key words
Dynamics modeling of system of solids, unmanned underwater vehicle, UUV, AUUV, mobile robot, hyper-redundant robot, computer design of machines and mechanisms, SolidWorks Motion, MCS.ADAMS.

Acknowledgements
This work was supported by the Russian Foundation for Basic Research (projects 20-38-70161 and 19-08-00347).

DOI
10.31776/RTCJ.9405

Bibliographic description
Filaretov, V. et al., 2021. The development of AUV control system with accommodation to thruster faults. Robotics and Technical Cybernetics, 9(4), pp.280-288.

UDC identifier:
629.584

References  

1. Koofigar, H.R., 2012. Adaptive control of underwater vehicles with unknown model parameters and unstructured uncertainties. In: Proceedings of SICE Annual Conference (SICE), pp.192-196.
2. Narasimhan, M. and Singh, S.N., 2006. Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins. Ocean Engineering, 33(3–4), pp.404-416.
3. Lei, M., 2020. Nonlinear diving stability and control for an AUV via singular perturbation. Ocean Engineering, 197(1). DOI: 10.1016/j.oceaneng.2019.106824. Available at: <https://reader.elsevier.com/reader/sd/pii/
   S0029801819309229?token=D17540C3307952C320A01F3F545FE57B5A665C3865558E701062BF1BF8A80156175A3581322395664CBF24C9C9EB8F37&originRegion=eu-west-1&originCreation=20211122140333> (Accessed 22 November 2021).
4. Lakhwani, D.A. and Adhyaru, D.M., 2013. Performance comparison of PD, PI and LQR controller of autonomous under water vehicle. In: Proceedings of Nirma University International Conference on Engineering (NUiCONE), pp.1-6. DOI:10.1109/NUiCONE.2013.6780183.
5. Filaretov, V. and Yukhimets, D., 2012. Synthesis Method of Control System for Spatial Motion of Autonomous Underwater Vehicle. International Journal of Industrial Engineering and Management (IJIEM), 3(3), pp.133-141.
6. Dai, P. et al., 2020. Sliding mode impedance control for contact intervention of an I-AUV: Simulation and experimental validation. Ocean Engineering, 196. DOI: 10.1016/j.oceaneng.2019.106855. Available at: <https://reader.elsevier.com/reader/sd/pii/S002980181930945X?token=AB4D4B3BD7F17E8B25CF008A84286781DEC84C245C95A98672DAF14C565EFB2EA5D6D736323A6AACBF97A41447825819&originRegion=eu-west-1&originCreation=20211123060752> (Accessed 22 November 2021).
7. Fossen, T., 2011. Handbook of Marine Craft Hydrodynamics and Motion Control. Chichester, UK: Jonh Willey & Sons Publ., p.582.
8. Inzartsev, A.V. et al., 2018. Podvodnye Robototekhnicheskie Kompleksy: Sistemy, Tekhnologii, Primenenie [Underwater Robotic Complexes: Systems, Technologies, Application]. Russia, Vladivostok: Institute of Marine Technology Problems of the Far Eastern Branch of the RAS, p.368. (in Russian).
9. Filaretov, V. F., Lebedev, A.V. and Yukhimets, D.A., 2005. Ustroistva i Sistemy Upravleniia Podvodnykh Robotov [Devices and Control Systems of Underwater Robots]. Moscow: Nauka Publ., p.270. (in Russian).
10. Zuev, A.V., Zhirabok, A.N. and Filaretov, V.F., 2020. Fault identification in underwater vehicle thrusters via sliding mode observers. International Journal of Applied Mathematics and Computer Science, 30(4), pp.679-688.