Terminal Sliding Mode Observer Based Fault Reconstruction for Underwater Vehicle Thruster

Abstract

Abstract:

Abstract： A fault reconstruction method based on terminal sliding mode observer was proposed in this paper. In the traditional sliding mode observer, the estimated error of unmeasured state is asymptotic convergence, which affects the timeliness of thruster fault reconstruction. In response to the above problem, the property of finite time convergence of terminal sliding mode was used to build a terminal sliding mode observer to ensure that all of the state estimation errors converge in a finite time. Then the thruster fault was reconstructed by using the equivalent output error infection method. Finally, the proposed method was validated by simulation.

Key words: underwater vehicle, terminal sliding mode observer, thruster, fault reconstruction

CLC Number:

TP 277

CHU Zhenzhong1,ZHU Daqi1,ZHANG Mingjun2. Terminal Sliding Mode Observer Based Fault Reconstruction for Underwater Vehicle Thruster[J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 837-841.

References

［1］Dearden R, Ernits J. Automated fault diagnsis for an autonomous underawter vehicle ［J］. IEEE Journal of Oceanic Engineering, 2013, 38(3): 486501.

［2］周东华, 胡艳艳. 动态系统的故障诊断技术［J］.自动化学报, 2009, 35(6): 748758.

Zhou D H, Hu Y Y. Fault diagnosis techniques for dynamics systems ［J］. Acta Automatica Sinica, 2009, 35(6): 748758.

［3］Loebis D, Suttor R, Chudley J. Adaptive tuning of a Kalman filter via fuzzy logic for an intelligent AUV navigation system ［J］. Control Engineering Practice, 2004, 12(2): 340349.

［4］Chu Z Z, Zhang M J. Fault reconstruction of thruster for autonomous underwater vehicle based on terminal sliding mode observer ［J］. Ocean Engineering, 2014, 88: 426434.

［5］Alwi H, Edwards C. Second order sliding mode observers for the ADDSAFE actuator benchmark problem ［J］. Control Engineering Practice, 2014, 31: 7491.

［6］Edwards C, Spurgeon S K, Patton R J. Sliding mode observers for fault detection and isolation ［J］. Automatica, 2000, 36(4): 541553.

［7］Chen W, Saif M. Actuator fault diagnosis for uncertain linear systems using a highorder sliding mode robust differentiator (HOSMRD) ［J］. International Journal of Robust and Nonlinear Control, 2008, 18(45): 413426.

［8］Saif M, Ebrahimi B, Vali M. A second order sliding mode strategy for fault detection and faulttolerantcontrol of a MEMS optical switch ［J］. Mechatronics, 2012, 22(6): 696705.

［9］杨俊起, 朱芳来. 基于高增益鲁棒滑模观测器的故障检测和隔离［J］. 自动化学报, 2012, 38(12): 20052013.

Yang J Q, Zhu F L. FDI based on highgain robust sliding mode observers ［J］. Acta Automatica Sinica, 2012, 38(12): 20052013.

［10］俞建成, 李强, 张艾群，等. 水下机器人的神经网络自适应控制［J］. 控制理论与应用, 2008, 25(1): 913.

Yu J C, Li Q, Zhang A Q, et al. Neural network adaptive control for underwater vehicles ［J］. Control Theory & Applications, 2008, 25(1): 913.

［11］Feng Y, Zheng J, Yu X. Hybrid Terminal slidingmode observer design method for a permanentmagnet synchronous motor control system ［J］. IEEE Transactions on Industrial Electronics, 2009, 56(9): 34243431.

［12］Tan C P, Yu X, Man Z. Terminal sliding mode observers for a class of nonlinear systems ［J］. Automatica, 2010, 46(8): 14011404.

[1]	LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong. Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator [J]. Journal of Shanghai Jiao Tong University, 2022, 56(7): 944-952.
[2]	YANG Tao (杨涛), ZHAO Jiankang∗ (赵健康). Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 281-297.
[3]	BI Anyuana (毕安元), FENG Zhengpinga,b∗ (冯正平), ZHU Yuchena (朱昱琛), DENG Xua (邓旭). Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 375-382.
[4]	FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392.
[5]	WU Lihong, FENG Xisheng, YE Zuolin, LI Yiping. Physics-Based Simulation of AUV Forced Diving by Self-Propulsion [J]. Journal of Shanghai Jiao Tong University, 2021, 55(3): 290-296.
[6]	DAI Cong, LIU Yongzhi, SUN Haoshui . Fault Reconstruction for Lipschitz Nonlinear Systems Using Higher Terminal Sliding Mode Observer [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 630-638.
[7]	LI Yueming,WANG Xiaoping,ZHANG Junjun,CAO Jian,ZHANG Yinghao. X-Rudder Autonomous Underwater Vehicle Control Allocation Based on Improved Quadratic Programming Algorithm [J]. Journal of Shanghai Jiaotong University, 2020, 54(5): 524-531.
[8]	HUANG Hantao, ZHOU Jingye, DI Qing, ZHOU Jiawei , LI Jiawang . Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 470-477.
[9]	QIAN Yuan, FENG Zhengping, BI Anyuan, LIU Weiqi . T-S Fuzzy Model-Based Depth Control of Underwater Vehicles [J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(3): 315-324.
[10]	PANG Shikun,LIANG Xiaofeng,LI Yinghui,YI Hong. Collision Avoidance Strategy for Autonomous Underwater Vehicle Based on Null-Space-Based Behavioral Approach [J]. Journal of Shanghai Jiaotong University, 2020, 54(3): 295-304.
[11]	ZHUANG Peng,FENG Zhengping,BI Anyuan,ZHENG Tianhai,PAN Wanjun,ZHAO Shuo. Depth Composite Control of Low Speed Underwater Vehicle Near Surface [J]. Journal of Shanghai Jiaotong University, 2019, 53(9): 1084-1090.
[12]	PANG Shikun,WANG Jian,YI Hong,LIANG Xiaofeng. Formation Control of Multiple Autonomous Underwater Vehicles Based on Sensor Measuring System [J]. Journal of Shanghai Jiaotong University, 2019, 53(5): 549-555.
[13]	LUO Yang (罗扬), PAN Guang* (潘光), HUANG Qiaogao (黄桥高), SHI Yao (施瑶), LAI Hui (赖慧). Parametric Geometric Model and Shape Optimization of Airfoils of a Biomimetic Manta Ray Underwater Vehicle [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(3): 402-408.
[14]	YU Cheng (郁程), DONG Xiaoqian (董小倩), YANG Chenjun (杨晨俊), LI Wei (李巍), NOBLESSE Francis. Effects of Blade Loading Distribution on the Cavitation and Excitation Forces of a Tunnel Thruster [J]. J Shanghai Jiaotong Univ Sci, 2019, 24(2): 158-167.
[15]	ZHANG Tao,LI Dejun,LIN Mingwei,ZHANG Menghui,YANG Canjun. Design and Realization of Non-Contact Underwater Docking System on Ocean Observatory Network [J]. Journal of Shanghai Jiaotong University, 2018, 52(7): 784-792.