System identification and fault accommodation for thruster propelled UUVs

N. W.A. Sowerby; E. Omerdic; G. N. Roberts

System identification and fault accommodation for thruster propelled UUVs

N. W.A. Sowerby, E. Omerdic, G. N. Roberts

Department of Electronics & Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper describes the current state of the work done at The University of Wales' College Newport under the 'improve the performance of remotely operated vehicles' programmme (IMPROVES). The work incorporates advances in two interrelated parts of the project: it presents a technique to extract velocity from a low-cost MEMS inertial measurement unit for system identification and development of a combined control allocation and fault detection technique, The paper presents theoretical developments and results obtained on experimental trials.

Original language	English
Pages (from-to)	41-50
Number of pages	10
Journal	Proceedings of the Institute of Marine Engineering, Science and Technology Part A: Journal of Marine Engineering and Technology
Issue number	7
Publication status	Published - 2005

Cite this

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abstract = "This paper describes the current state of the work done at The University of Wales' College Newport under the 'improve the performance of remotely operated vehicles' programmme (IMPROVES). The work incorporates advances in two interrelated parts of the project: it presents a technique to extract velocity from a low-cost MEMS inertial measurement unit for system identification and development of a combined control allocation and fault detection technique, The paper presents theoretical developments and results obtained on experimental trials.",

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System identification and fault accommodation for thruster propelled UUVs

Abstract

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