Active Fault-tolerant Control of Unmanned ...

In this paper, a hierarchical systematic design methodology of active fault tolerant control system is developed to accommodate partial actuator and/or sensor faults of Unmanned Underwater Vehicles (UUVs). An integrated sensitive Fault Detection and Diagnosis (FDD) mechanism is developed with acceptable time period and a computation load reduction for large number of actuators and sensors in the presence of system disturbances and random noise. An optimized robust reconfigurable controller design is presented based on singular value decomposition (SVD) principle and eigenstructure assignment technique. The effectiveness of the proposed scheme has justified by simulation result on the decoupled steering subsystem of the Naval Postgraduate School (NPS) Unmanned Underwater Vehicles (UUVs).