AUV fault detection using model based observer residuals
By: James E. Melvin
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1998
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 120
Subjects: Underwater navigation; Ship models; Adaptive control systems
Other titles: NPS-ME-98-004.
Description: In order for the Navy's next generation Unmanned Undersea Vehicles to be more robust to software/hardware faults, on-line failure detection and resolution is needed. Typically, fault detection methods include limits and trends analysis, model free, and model based techniques. Here, model based observers are proposed for the      detection of fault induced dynamic signals in the diving, steering, and roll control systems. Such automatic fault detection systems were designed and implemented in a Simulink model of the "21UUV." in the course of    conducting simulations with the model, numerous vehicle behaviors were studied and detection response was      verified. In addition, the model based observer residuals may be designed to distinguish actuator faults from wave disturbances and fin faults from maneuvering responses.
Notes: "June 1998."

Thesis advisor(s): Anthony J. Healey.

"NPS-ME-98-004."

Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate  School, June 1998.

Includes bibliographical references (p. 117-118)

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.

US Navy (USN) author.

dk/dk cc:9116 09/30/98.