基于观测器与控制器关联构建的深海潜水器容错控制方法
By constructing a fault-tolerant control method for deep-sea submersibles based on the association between the observer and the controller, the tracking error problem caused by thrust saturation of the deep-sea submersible under unknown thruster failure and complex external disturbances was solved, achieving accurate tracking and energy consumption optimization, and improving the stability and flexibility of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN ENG UNIV
- Filing Date
- 2023-09-15
- Publication Date
- 2026-07-17
AI Technical Summary
Existing adaptive fault-tolerant control methods suffer from significant tracking errors caused by thrust saturation when deep-sea submersibles experience unknown thruster failures or complex external disturbances, making it difficult to effectively compensate for the impact of unknown thruster failures and complex external disturbances.
A fault-tolerant control method for deep-sea submersibles based on the association between the observer and the controller is constructed. By building a dynamic model of the submersible, the influence of thruster failure, thruster dead zone and measurement noise is separated using the Nussbaum function. A state observer and a fault-tolerant controller are designed. The error is evaluated by using a neural network and the tracking error is reduced by compensating for unknown thruster failures and complex external disturbances.
It effectively maintains the tracking accuracy of deep-sea submersibles underwater, reduces tracking errors caused by thrust saturation of the thruster, reduces energy consumption caused by control variables, reduces system conservatism, and improves the flexibility and stability of the controller.
Smart Images
Figure CN117111474B_ABST