https://users.encs.concordia.ca/~ymzhang/publications/ARC32-2-98Zhang_pp.229-252.pdf

Bibliographical review on reconfigurable fault-tolerant control systems

During the 1990s, numerous worldwide research and development activities have occurred in underwater robotics, especially in the area of autonomous underwater vehicles (AUVs). As the ocean attracts great attention on environmental issues and resources as well as scientific and military tasks, the need for and use of underwater robotic systems has become more apparent. Great efforts have been made in developing AUVs to overcome challenging scientific and engineering problems caused by the unstructured and hazardous ocean environment. In the 1990s, about 30 new AUVs have been built worldwide. With the development of new materials, advanced computing and sensory technology, as well as theoretical advancements, R&D activities in the AUV community have increased. However, this is just the beginning for more advanced, yet practical and reliable AUVs. This paper surveys some key areas in current state-of-the-art underwater robotic technologies. It is by no means a complete survey but provides key references for future development. The new millennium will bring advancements in technology that will enable the development of more practical, reliable AUVs.

Design and Control of Autonomous Underwater Robots: A Survey

A survey of underwater vehicle navigation: Recent advances and new challenges

Underwater autonomous manipulation for intervention missions AUVs

Advancements in the field of autonomous underwater vehicle

Underwater robotic vehicles (URVs) have become an important tool for numerous underwater tasks due to their greater speed, endurance, depth capability, and a higher factor of safety than human divers. However, most vehicle control system designs are based on simplified vehicle models and often result in poor vehicle performance due to the nonlinear and time-varying vehicle dynamics having parameter uncertainties. Conventional proportional-integral-derivative (PID) type controllers cannot provide good performance without fine-tuning the controller gains and may fail for sudden changes in the vehicle dynamics and its environment. Conventional adaptive control systems based on parameter adaptation techniques also fail in the presence of unmodeled dynamics. This paper describes a new vehicle control system using the bound estimation techniques, capable of learning, and adapting to changes in the vehicle dynamics and parameters. The control system was extensively “wet-tested” on the Omni-Directional Intelligent Navigator (ODIN)-a six degree-of-freedom, experimental underwater vehicle developed at the Autonomous Systems Laboratory, and its performance was compared with the performance of a conventional linear control system. The results showed the controller's ability to provide good performance in the presence of unpredictable changes in the vehicle dynamics and its environment, and it's capabilities of learning and adapting.

Experimental study on a learning control system with bound estimation for underwater robots

This paper describes the design and implementation of a fault-tolerant system for Omni-Directional Intelligent Navigator (ODIN), a six-degree-of-freedom autonomous underwater vehicle (AUV) designed at the University of Hawaii. A fault-tolerant system consists of three areas: fault detection, fault isolation and fault accommodation. Each area is described, and methods discussed in the literaturearebriefly reviewed. The presented design focuses on the thruster (or actuator) and sensor system failures in an AUV. Experimental results show that the presented approach is practical and effective when tolerable failures in actuators and sensors occur. This methodology and concept can be extended to fault-tolerant system design for various AUVs with hardware redundancy.

Fault-tolerant system design of an autonomous underwater vehicle ODIN: An experimental study

Describes the design and implementation of a fault tolerant system for the 6 degrees-of-freedom ODIN autonomous underwater vehicle (AUV). Fault tolerant system design can be divided into three areas: fault detection, fault isolation, and fault accommodation. This paper summarizes previous studies in fault tolerant system design and presents a fault tolerant system design for thruster (actuator) and sensor failure in AUVs. The presented system was implemented in the actual vehicle, ODIN, and its effectiveness was evaluated with experimental results.

Experimental study of fault-tolerant system design for underwater robots

Underwater robotic vehicles (URVs) have become an important tool for various underwater tasks because of their greater speed, endurance, depth capability and a lower risk factor than human divers. However, most vehicle control system designs are based on simplified vehicle models and often result in poor vehicle performance due to the nonlinear and time-varying vehicle dynamics having parameter uncertainties. This paper describes a new vehicle control system capable of learning and adapting to changes in the vehicle dynamics and parameters. This control system is compared with a conventional linear control system through extensive wet tests. Results show the learning and adapting capabilities of the presented control system.

Song K. Choi

Papers

Underwater autonomous manipulation for intervention missions AUVs

Experimental study on a learning control system with bound estimation for underwater robots

Fault-tolerant system design of an autonomous underwater vehicle ODIN: An experimental study

Experimental study of fault-tolerant system design for underwater robots

Experimental study on a learning control system with bound estimation for underwater robots