| Issue |
E3S Web Conf.
Volume 360, 2022
2022 8th International Symposium on Vehicle Emission Supervision and Environment Protection (VESEP2022)
|
|
|---|---|---|
| Article Number | 01094 | |
| Number of page(s) | 8 | |
| DOI | https://doi.org/10.1051/e3sconf/202236001094 | |
| Published online | 23 November 2022 | |
Fault diagnosis of AUV based on sliding-mode observer
Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
* Corresponding author: 1992737303@qq.com
Designing of a sliding mode observer was finished based on the motion model of autonomous underwater vehicle (AUV). A Flutter decrease strategy for the sliding mode observer was discussed and the sliding mode observer was applied to the fault diagnosis of the AUV. Simulation experiment without faults was designed. Simulation experiment of sensor fault diagnosis and field trial of thruster fault diagnosis were undertaken. The validity and feasibility of this method were validated based on the analysis of the simulation and field trial results.
© The Authors, published by EDP Sciences, 2022
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