Title
Active Fault Localization Of Actuators On Torpedo-Shaped Autonomous Underwater Vehicles
Abstract
To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.
Year
DOI
Venue
2021
10.3390/s21020476
SENSORS
Keywords
DocType
Volume
autonomous underwater vehicle (AUV), actuator fault, fault diagnosis (FD), fault localization (FL), feature analysis
Journal
21
Issue
ISSN
Citations 
2
1424-8220
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Fuqiang Liu100.68
Yan Long200.34
Jun Luo312321.77
Huayan Pu49023.66
chaoqun duan5204.41
Songyi Zhong600.68