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Thruster Fault-Tolerant Control: Thruster Fault Diagnosis and Accommodation System for Underwater Vehicles

Edin Omerdic

ISBN 10: 3639117395 / ISBN 13: 9783639117394
Published by VDM Verlag Dr. Müller, 2009
Condition: Good Soft cover
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Title: Thruster Fault-Tolerant Control: Thruster ...

Publisher: VDM Verlag Dr. Müller

Publication Date: 2009

Binding: Paperback

Book Condition: Good

About this title


Remotely operated underwater vehicles are used for different tasks (survey, exploration, salvage etc.). However, these vehicles are liable to faults or failures during missions. Thrusters are one of the most common and most important sources of faults. In all but the most trivial cases the existence of a fault may lead to cancelling the mission. The implication of small faults can be very expensive (ship time is very costly) and time consuming. A large number of underwater vehicles represent overactuated control systems, i.e. they have four or more horizontal thrusters for the motion in the horizontal plane in three DOF (surge, sway and yaw). For this class of vehicle this book introduces a novel thruster Fault Diagnosis and Accommodation System (FDAS), with the ability of automatic thruster fault detection and accommodation. It shows you how, in the case of a partial or total fault in a thruster, to reconfigure the control system in an optimal manner, in order to maintain a high level of manoeuvrability of the faulty vehicle and complete the mission. With this book you get all you need to enhance your existing ROV control system with thruster fault-tolerant capabilities.

About the Author:

Edin Omerdic received Dipl. Eng. and M.S. degree from the University of Zagreb in 1997 and 2001, and Ph.D. from the University of Wales, Newport, United Kingdom in 2004. He is currently a Senior Research Fellow for Ocean System Modelling, Charles Parsons Initiative, at the Mobile & Marine Robotics Research Centre, University of Limerick, Ireland.

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