Observer Based Fault Diagnosis in Thrusters of Autonomous Underwater Vehicle

Shumsky A., Zhirabok A., Hajiyev C.

Conference on Control and Fault-Tolerant Systems (SysTol), Nice, France, 6 - 08 October 2010, pp.11-16 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/systol.2010.5676076
  • City: Nice
  • Country: France
  • Page Numbers: pp.11-16
  • Istanbul Technical University Affiliated: Yes


The problem of fault diagnosis in thrusters of autonomous underwater vehicle is studied. Solution of the problem involves residual generation as a result of mismatch between vehicle behaviour and its reference model behaviour followed by decision making via evaluation of the residual. Sensitivity theory based methods are developed for the design of both residual generator and decision making procedure. These methods are applied to the model of CR-01 autonomous underwater vehicle. Appropriate simulation results are given.