Cost and other practically related reasons can mean that velocity sensors are not available on an underwater vehicle. For such cases, the results in this brief developed observer-based fault-tolerant control for vehicles presence of external disturbances unknown thruster faults. An adaptive sliding mode observer is to achieve finite-time convergence where, comparison a high-gain-based design observer, nonlinear feedback constructed based position estimation error. Unlike alternatives,...

In order to improve the product disassembly efficiency, line balancing problem (DLBP) is transformed into a of searching for optimum path in directed and weighted graph by constructing hierarchy information (DHIG). Then, combining characteristic sequence, an entropy-based adaptive hybrid particle swarm optimization algorithm (AHPSO) presented. this algorithm, entropy introduced measure changing tendency population diversity, dimension learning, crossover mutation operator are used increase...

To enhance the crypticity and operational efficiency of unmanned underwater vehicle (UUV) charging, we propose an automatic alignment method for charging platform based on monocular vision recognition. This accurately identifies UUV number guides stake to smoothly insert into port through target decode UUV’s identity information, even in challenging imaging conditions, encryption encoding containing redundant information ArUco code reconstruction are proposed. address challenge location...

This article presents a novel thruster fault degree identification method for autonomous underwater vehicle. The is developed from the fuzzy support vector domain description method, which establishes model first, and then estimates according to model. When establishing based on it found that relative fitting error of actual large, making accuracy poor. To reduce error, homomorphic membership function proposed. Different calculates sample in time domain, proposed log domain. On estimating by...

The misalignment of the drive system is one important factors causing damage to gears and bearings on high-speed output end gearbox in doubly-fed wind turbines. How use obtained information determine types faults accurately has always been a challenging problem for researchers. Under restriction that only kind signal used current turbine fault diagnosis, new method based heterogeneous fusion presented this paper. collected vibration signal, temperature stator are as original sources. Their...

An adaptive sliding mode backstepping fault-tolerant control is proposed for autonomous underwater vehicle(AUV) with thruster faults. Thruster faults are treated as uncertainties. Gaussian radial-basis-function networks used to approximate these general In addtion, no Fault Detection and Diagnosis unit needed in the method.The controller can guarantee closed-stability regardless of fault occurs or not. Due controlled system strict-feedback traditional scheme, an improved scheme integrating...

When adopting the conventional grey model (GM(1,1)) to predict weak thruster fault for autonomous underwater vehicles, prediction error is not always satisfactory. In order solve problem, this article develops a new method based on an improved GM(1,1). developed GM(1,1) method, mainly makes improvement in following aspects: construction of background value, solution whiting differential equation and predicted sequence. Specifically, integral operation used range two adjacent steps obtain...

To improve the reliability and intelligence of autonomous underwater vehicle, an AUV test-platform named "Beaver" is developed. The hardware software system structure are introduced in detail. By analyzing performance fault mechanism thruster, it establishes condition monitoring for thrusters sensors based on double closed-loop PID controller, which includes model thruster RBF neural network forward improved dynamic recursive Elman network, probes into method combine detection. results...

To improve the reliability and security of running operation for autonomous underwater vehicle (AUV), it is necessary to detect faults navigation sensors fixed on it, whose outputs are fed back motion controller, reconstruct inaccurate condition information when happened any sensors. According advantage principal component analysis (PCA) in processing large numbers correlative variables, introduces an improved PCA model realize fault detection data restoration AUV. In view performance AUV...

Fault tolerant control (FTC) is one of the key technologies autonomous underwater vehicle (AUV). Based on thruster fault description and generic model control(GMC) method , an active fault-tolerant presented to adapt condition deficient thrust for multiple thrusters. Having researched style faults additive multiplicative faults, state expression described while thrusters appear simultaneously. An online reconfiguration presented, by multiplying function adding term. Finally, a diagnosis...

The problems of joint limit, and minimum roll pitch restoring moment during UVMS operation is studied in the paper. As for problem that too many subtasks will increase number fuzzy rules traditional task prioritization algorithm, paper proposed a new fused multiple subtask motion planning method by fusing limit information into weighted pseudo-inverse matrix. A numerical simulation carried out to demonstrate efficiency method.

As the impact of underwater vehicle dynamics modeling error on fault diagnosis system, a method using improved Elman neural network to modify model in current is proposed. The parameter adjustment law under Lyapunov stability given. Sliding mode observer constructed for state estimation based modified model. change residual each DOF analyzed when occurs different thrusters vehicle. A thruster fusion presented, which has been validated through AUV sea trials data.