Grande, Davide;
(2024)
Actuator faults in autonomous
underwater vehicles: simulation and
computer-aided control synthesis.
Doctoral thesis (Ph.D), UCL (University College London).
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Abstract
Autonomous Underwater Vehicles (AUVs) are routinely deployed worldwide to record real-time in-situ data, at times taking part in months-long missions. Collision or entanglement with drifting debris or interference by marine creatures can cause damage to an AUV’s structure and exposed actuators, with the possibility of compromising the vehicle’s operations. To mitigate potentially catastrophic effects of such hazards, fault-tolerant control (FTC) systems can be employed. Conventional FTC systems rely on monitoring the health status of the actuators using sensors or detection algorithms, which in themselves require energy resources and dedicated design efforts. Alternatively, passive FTC (pFTC) systems employing fixed gain controllers can be devised, eliminating the need for confirmatory data as to the occurrence of faults. Currently, pFTCs are designed through linearisation of the system dynamics. Recent advancements in computer-aided control methods comprising the use of Artificial Neural Networks (ANNs) hold significant potential to design control laws without relying on linear approximations, but lack formal closed-loop stability guarantees. To address the limitations of the available FTCs, three open-source software tools were developed as part of this research. The first software tool labelled OpenMAUVe is a modular simulator for innovative AUV concepts. The second software tool named ANLC facilitates the automatic synthesis of ANN-based nonlinear control laws with formal proof of stability. The third software tool titled pFT-ANLC devises pFTC laws for systems subject to faults at actuators. Finally, the control laws generated with the pFT-ANLC were verified using the OpenMAUVe simulator, thus demonstrating the capability of the control laws to cope with faults at multiple thrusters on AUVs, without requiring the faults having to be detected.
| Type: | Thesis (Doctoral) |
|---|---|
| Qualification: | Ph.D |
| Title: | Actuator faults in autonomous underwater vehicles: simulation and computer-aided control synthesis |
| Open access status: | An open access version is available from UCL Discovery |
| Language: | English |
| Additional information: | Copyright © The Author 2024. Original content in this thesis is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) Licence (https://creativecommons.org/licenses/by-nc/4.0/). Any third-party copyright material present remains the property of its respective owner(s) and is licensed under its existing terms. Access may initially be restricted at the author’s request. |
| Keywords: | Fault-tolerant control, passive fault-tolerant control, computer-aided control design, Lyapunov methods, Artificial Neural Networks, Neural Lyapunov Control, Autonomous Underwater Vehicle, control systems, underwater glider |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10200707 |
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