Abstract
In order to solve the problem that the remote operated vehicle (ROV) receives complex interference when working underwater, which leads to the fault of the propeller, the path tracking of ROV with fault-tolerant ability is studied. First, the ROV model is established and decoupled to obtain its 4-DOF nonlinear model. On this basis, an adaptive backstep** sliding mode path tracking controller is designed. Then, for different degrees of thruster fault, a fault-tolerant control method based on thrust distribution strategy which can be carried out according to the fault degree of the thruster is proposed. The simulation results show that the algorithm of path tracking and method of fault-tolerant proposed in this paper can ensure the normal realization of ROV path tracking task when the thruster is faulty, and effectively improve the stability and fault-tolerance of ROV path tracking.
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Acknowledgment
This work is supported in part by the National Science Foundation of China (Project No. 11574120), in part by the Jiangsu Province industrial foresight and common technology (Project No. BE2018103).
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Liu, Z., Ren, J., Pei, X., Zeng, Q., Dai, X. (2024). Fault-Tolerant Control for ROV Path Tracking Based on Thrust Distribution Strategy. In: Qu, Y., Gu, M., Niu, Y., Fu, W. (eds) Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023). ICAUS 2023. Lecture Notes in Electrical Engineering, vol 1175. Springer, Singapore. https://doi.org/10.1007/978-981-97-1095-9_44
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DOI: https://doi.org/10.1007/978-981-97-1095-9_44
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