System identification and fault accommodation for thruster propelled UUVs

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. © 2014 2005 Taylor and Francis Group LLC.