This paper proposed a bi-criteria weighting approach for fault tolerant control (FTC) of SY-II remote
operated vehicle (ROV). This approach integrates the minimum kinetic energy (2-norm optimal) approach with
the infinity-norm approach through a weighting coefficient, on the basis of SY-II ROV force allocation model. For
the realization of fault tolerable control, this approach converts a quadratic programming problem into primaldual
neural network. From the motion control simulations and experiments, bi-criteria optimization approach
outperforms minimum kinetic energy optimization in FTC, SY-II ROV can realize 2-degree of freedom (DOF)
horizontal fault tolerant control with one main thruster and any of horizontal ones. Therefore, this scheme is proved
to be of superiority and computational efficiency, both the reliability and safety for ROV have been improved.
JIANG Shu-qiang1* (姜述强), JIN Hong-zhang1 (金鸿章), WEI Feng-mei2,3 (魏凤梅)
. Bi-criteria Optimal Fault-Tolerable Control for SY-II Remote Operated Vehicle[J]. Journal of Shanghai Jiaotong University(Science), 2013
, 18(5)
: 542
-548
.
DOI: 10.1007/s12204-013-1438-6
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