Implementation of sliding mode observer based reconfiguration in an autonomous underwater vehicle

Mitchell, A.J., McGookin, E. and Murray-Smith, D.J. (2005) Implementation of sliding mode observer based reconfiguration in an autonomous underwater vehicle. Acta Polytechnica, 45(4), pp. 18-24.

Abstract

This paper looks at the implementation of a Sliding Model Observer (SMO) based reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicles (AUV). In this paper the reconfigurability aspects are considered for the main heading controller. Simulation responses are used to illustrate that the Sliding Mode Controller is able to give state information to the controller when there is a fault in the AUV's sesnor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system.

• Item Type: Articles
• Keywords: autonomous underwater vehicle, sliding-mode control, fault tolerance, reconfiguration, sliding mode observers, environmental disturbance
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: McGookin, Dr Euan and Murray-Smith, Professor David
• Authors: Mitchell, A.J., McGookin, E., and Murray-Smith, D.J.
• Subjects: T Technology > TJ Mechanical engineering and machinery; T Technology > TK Electrical engineering. Electronics Nuclear engineering; V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy
• Journal Name: Acta Polytechnica
• ISSN: 1210-2709