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基于观测器的水下机器人鲁棒故障诊断

Jian-guo WANG,Lei WAN,Yu-shan SUN,Da-peng JIANG,Wen-tian CHANG

Journal of Dalian Maritime University（2009）

Cited 3|Views28
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Abstract
为提高水下机器人故障检测的正确率,降低故障诊断的误报率和漏报率,基于水下机器人的空间运动方程,完成了非线性滑模观测器的设计,并利用设计的观测器完成了水下机器人的系统辨识.将观测器应用于水下机器人的传感器仿真试验和推进器故障诊断的海上试验的结果验证了该方法的有效性和可行性.
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Key words
Sensor fault diagnosis,Sliding mode observers,Thruster fault diagnosis,Underwater robots
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