Adaptive fault-tolerant attitude control for a CMG-based underwater vehicle
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ORIGINAL ARTICLE
Adaptive fault‑tolerant attitude control for a CMG‑based underwater vehicle Ruikun Xu1 · Guoyuan Tang1,2 · Daomin Huang3 · De Xie1,2 · Lijun Han1 Received: 1 November 2017 / Accepted: 24 September 2019 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2019
Abstract This paper proposes a fault-tolerant control strategy for the attitude control problem of a CMG-based underwater vehicle based on the adaptive sliding mode control method and Lyapunov stability theory. First, a fault-tolerant control model is presented for the quaternion-based attitude kinematic equations combined with a pyramid control moment gyroscope (CMG) system. Second, considering the momentum singularity and input saturation constraint problem, adaptive control method is inspired to estimate the model uncertainties and actuator failures under some basic assumptions. Subsequently, the proposed controller is derived from backstepping-based design techniques and its feasibility is complemented by the remarks. Finally, its efficiency and robustness are illustrated in simulation results to against the uncertainties and disturbances. Keywords Underwater vehicle control · Control moment gyros · Attitude control · Fault-tolerant control · Adaptive control
1 Introduction Control moment gyroscopes (CMGs) become increasingly popular as attitude control actuators for aerospace applications in recent decades. In addition, CMGs can serve as momentum-exchange torque generators, and can effectively achieve the control torque amplification and momentum storage with respect to the reaction wheels [1]. However, as a special type of underwater actuator device, its applications mostly remain at the theoretical and experimental stage. CMGs have been introduced as a novel underwater attitude actuator can be found in [2], in view of the practical situation and complicated water resistance, study of its stability to against the actuator partial failures and external disturbances is undoubtedly a challenge, which deserves to be concerned. Different from the traditional feedback linearization method, fault-tolerant control (FTC) can process the stability problem caused by malfunctions in actuators, * Guoyuan Tang [email protected] 1
School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
2
Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration (CISSE), Shanghai 200240, China
3
Air Force Early Warning Academy, Wuhan 430019, China
sensors, etc [3, 4]. Moreover, a closed-loop system employed by the FTC structure can enhance its stability properties under the component failures [5]. In practice, by means of the fault detection and isolation (FDI), the active FTC system can detect and identify the faults by a fault detection and diagnosis (FDD) scheme. Consequently, researches on FDD with time delay and uncertainty gradually gain more attentions and studies [6–8]. A feedback controller provided in [9] is considered to overcome the conflict
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