Optimal fault detection and resolution during maneuvering for Autonomous Underwater Vehicles
Gibbons, Andrew S.
Healey, Anthony J.
MetadataShow full item record
In order to increase robustness, reliability, and mission success rate, autonomous vehicles must detect debilitating system control faults. Prior model-based observer design for 21UUV was analyzed using actual vehicle sensor data. It was shown, based on experimental response, that residual generation during maneuvering was too excessive to detect manually implemented faults. Optimization of vehicle hydrodynamic coefficients in the model significantly decreased maneuvering residuals, but did not allow for adequate fault detection. Kalman filtering techniques were used to improve residual reduction during maneuvering and increase residual generation during fault conditions. Optimization of the Kalman filter's system noise matrix, measurement noise matrix, and input gain scalar multiplier produced fault resolution which allowed for accurate detection of fault of relatively minor magnitude within minimal time constraints
Showing items related by title, author, creator and subject.
Prediction of propulsor-induced of maneuvering forces using a coupled viscous/potential-flow method for integrated propulsors Warren, Christopher L. (Monterey California. Naval Postgraduate School, 1999-06-01);This thesis develops a method to analyze the maneuvering forces on surfaced and underwater vehicles with complex propulsors. The analysis method is developed for general propellers yet has unique applicability to model ...
McCullough, Martin L.; Manahan, Maurice H. (Princeton University, 1966-05);An analysis of the static longitudinal and maneuvering stability and lateral controllability characteristics of the Pilatus "Heli-Porter" Model PC-6/ 350-H-l Airplane was conducted during the months of February, March, ...
A study of the effects of sensor noise and guidance laws on SAM effectiveness against cruise missiles Dogen, Murat (Monterey, California: Naval Postgraduate School, 2015-06);Cruise missiles (CMs) are getting more advanced. To cope with the rapidly growing CM threat, national air-defense systems use surface-to-air missiles (SAMs) as interceptors. To intercept a CM with a SAM, an optimal guidance ...