Actuator Fault Detection for Automation Underwater Vehicle via Extended State Observer and Adaptive Threshold
- Resource Type
- Conference
- Authors
- Hu, Dahai; Wu, Yunkai; Zhou, Yang; Zeng, Qingjun
- Source
- 2022 41st Chinese Control Conference (CCC) Chinese Control Conference, 2022 41st. :4106-4111 Jul, 2022
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Actuators
Automation
Sensitivity
Propellers
Fault detection
Simulation
Observers
AUV actuators
ESO
adaptive threshold
fault diagnosis
- Language
- ISSN
- 1934-1768
This paper addresses the propeller and rudder fault detection problems of automation underwater vehicle (AUV) since the actuator reliability is of great significance to the system security. Based on the six degree of freedom model of underwater vehicle, an extended state observer (ESO) and adaptive threshold based fault detection scheme is proposed in this paper. Firstly, the expanded state variables are used to obtain the diagnosis residuals between actual and estimated outputs. Further, an improved adaptive threshold is designed to monitor the change of residuals aiming at reducing the fault missing alarms. The simulation results show that the proposed scheme has an outstanding detection sensitivity for AUV actuators.