Bi-criteria optimal fault-tolerable control for SY-II remote operated vehicle |
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Authors: | Shu-qiang Jiang Hong-zhang Jin Feng-mei Wei |
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Affiliation: | 1. College of Automation, Harbin Engineering University, Harbin, 150001, China 2. College of Computer Science and Technology, Harbin Engineering University, Harbin, 150001, China 3. School of Technology, Harbin University, Harbin, 150086, China
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Abstract: | 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. |
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