A N ACTUATOR FAILURE T OLERANT C ONTROL S CHEME FOR AN U NDERWATER R EMOTELY O PERATED V EHICLE

SEMINAR REPORT submitted in partial fulllment of the requirements for the award of M.Tech Degree in Electronics and Communication Engineering (Applied Electronics and Instrumentation) of the University of Kerala

Submitted by VISAKH .V First Semester M.Tech, Applied Electronics and Instrumentation

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING COLLEGE OF ENGINEERING TRIVANDRUM 2012

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING COLLEGE OF ENGINEERING TRIVANDRUM

CERTIFICATE

This is to certify that this seminar report entitled An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle is a bonade record of the work done by Visakh V, under my guidance towards partial fulllment of the requirements for the award of Master of Technology Degree in Electronics and Communication Engineering (Applied Electronics and Instrumentation), of the University of Kerala during the year 2012.

Mr. Biji Jacob Associate Professor Dept. of ECE College of Engineering, Trivandrum (Seminar Coordinator)

Mr. Vinod B R Assistant Professor Dept. of ECE College of Engineering, Trivandrum (Guide)

Prof. David J Head of Department Dept. of ECE College of Engineering, Trivandrum

ACKNOWLEDGEMENTS
I would like to express my sincere gratitude and heartful indebtedness to my guide Mr. Vinod B R, Assistant Professor, Department of Electronics and Communication Engineering for his valuable guidance and encouragement in pursuing this seminar. I am thankful to Prof. David J, Head of the Department, Department of Electronics and Communication Engineering for their help and support. I also extend my hearty gratitude to Mr. Biji Jacob, Seminar Co-ordinator, Department of ECE, College of Engineering Trivandrum for providing necessary facilities and their sincere co-operation. My sincere thanks are extended to all the teachers of the department of ECE and to all my friends for their help and support. Above all I am thankful to the God Almighty.

Visakh .V

ii

ABSTRACT
This paper proposes an actuator fault-tolerant control scheme, composed of the usual modules performing detection, isolation, accommodation, designed for a class of nonlinear systems, and then applied to an underwater remotely operated vehicle (ROV) used for inspection purposes. Detection is in charge of a residual generation module, while a sliding-mode-based approach has been used both for ROV control and fault isolation, after the application of an input decoupling nonlinear state transformation to the ROV model. Finally, control reconguration is performed exploiting the inherent redundancy of actuators. An extensive simulation study has been also performed, supporting the effectiveness of the proposed approach.

iii

TABLE OF CONTENTS

1 2

INTRODUCTION MATHEMATICAL MODEL OF THE ROV

2.1 2.2 2.3 ROV Nonlinear Model . . . . . . . . . . . . . . . . . . . . . . . . State Space ROV Model . . . . . . . . . . . . . . . . . . . . . . . Input Decoupling Transformation and Sliding Mode Control Design 2.3.1 2.3.2 2.3.3 General Case . . . . . . . . . . . . . . . . . . . . . . . . . ROV Case Study: The Nonlinear State Transformation . . . ROV Case Study: Sliding Mode Control Law . . . . . . . .

1 2 2 3 4 4 5 6 7

3 4

FAULT TOLERANT CONTROL SCHEME

FAULT DETECTION: THE RESIDUAL GENERATOR MODULE 9 FAULT ISOLATION CONTROL RECONFIGURATION CONCLUSION
11 12 13

5 6 7

LIST OF FIGURES
2.1 2.2 4.1 ROV operational conguration. . . . . . . . . . . . . . . . . . . . . ROV propellers system. . . . . . . . . . . . . . . . . . . . . . . . . Incidence Matrix. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 3 9

ii

CHAPTER 1
INTRODUCTION

THE applied research area known as marine robotics is receiving increasing attention both by research institutes and by companies interested in the exploitation of sea resources. In particular, the development of underwater unmanned vehicles (UV) is attracting noticeable interest as a cost-effective solution for performing complex tasks in the underwater environment (e.g., environmental data gathering, transportation of assembling modules for submarine installations, inspection of underwater structures). Since the UV is expected to operate in a largely uncertain underwater environment, the control problem of such vehicles is particularly challenging, also in view of the inherent nonlinearity of the dynamics, the presence of external unmeasurable disturbances, the high uncertainty level in the model. In such a context, fault tolerance is crucial, to overcome the possible occurrence of faults in the vehicle actuators , and allow nonetheless the vehicle to satisfactorily track the assigned reference, thus fullling its mission objectives. The actuator failure tolerant control scheme presented in this paper is composed by the usual modules performing detection, isolation, accommodation of faults by control reconguration. Detection is performed by a residual generation module, developed according to structural analysis issues using the nonlinear model of the ROV. The fault identication module is based on sliding mode control (SMC). In particular, an input decoupling nonlinear state transformationhas been applied to the nonlinear model of the ROV, and three sliding surfaces have been designed for the decoupled nonlinear plant in order to ensure that each sliding surface is affected by a single thruster only (the redundant actuator can assume arbitrary values within a given range). Such sliding surfaces have been used both for designing a robust ROV control algorithm ensuring plant regulation, and for performing fault isolation. Since a decoupled sliding mode control law is used, any fault occurrence can be associated to a single thruster, and the faulty actuator is this way isolated. Finally, once the failed actuator has been identied, control reconguration is performed using the redundant healthy actuator. In other words, the control activity is redistributed among the actuators still working such that the failed actuator is compensated for, and control performances are this way preserved.

CHAPTER 2
MATHEMATICAL MODEL OF THE ROV

2.1

ROV Nonlinear Model

The equations describing the ROV dynamics have been obtained from classical mechanics. The ROV considered as a rigid body can be fully described with six degrees of freedom, corresponding to the position and orientation with respect to a given coordinate system.

Figure 2.1: ROV operational conguration. Being the depth controlled by the surface vessel, the ROV is considered to operate on surfaces parallel to the XY plane. Accordingly the controllable variables are ,x ,y and the yaw angle . It should be noticed that the roll and pitch angles and will not be considered in the dynamic model, their amplitude, in fact, has been proven to be negligible in a wide range of load conditions, and with different intensities and directions of the underwater current as well. The ROV model is described by the following system of differential equations:

Substituting for the various physical parameters of the ROV we get

Figure 2.2: ROV propellers system.

2.2

State Space ROV Model

Introducing the state vectors the following state space nonlinear model is ob-

tained.

with the value of the functions given by

2.3

Input Decoupling Transformation and Sliding Mode Control Design

2.3.1

General Case

In this section, the problem of designing a sliding mode controller on a plant of the form after the application of an input decoupling transformation will be treated in the general case. Consider the class of MIMO overactuated second-order systems described by

Theorem 3: For the uncertain plant under Assumptions 1 and 2, it is always possible c to design a robust sliding mode controller such that the following: A the robust regulation problem is solved, i.e. asymptotically it holds equivalently, the achievement of a sliding motion is ensured onto a suitable sliding surface;each component of the input vector affects one and only one component of the dimensional sliding surface. Proof: If the nonlinear transformation is applied to the original plant , the system is obtained, or, equivalently.

2.3.2

ROV Case Study: The Nonlinear State Transformation

The input decoupling state transformation described in the previous section will be here applied the ROV under study. To this purpose, consider the th thruster xed, and rewrite the model as follows:

Consider the following nonlinear change of coordinates: Applying transformation , one gets the following model equation,where the subscript denotes that the model has been obtained considering xed the th thruster. Just as an example, when the case is considered, the transformation matrix and the following model, corresponding to (27), is obtained:

2.3.3

ROV Case Study: Sliding Mode Control Law

The results stated in Theorem 3 will be applied here to the ROV under study. Again, without loss of generality, the case with will be considered in the following . In particular, the control law is aimed at solving the regulation problem for the variables with respect to constant reference variables . Dene

which can be fullled imposing separately three inequalities. the rst inequality gives

The consequence of the above control law is

CHAPTER 3
FAULT TOLERANT CONTROL SCHEME

In this section, the proposed fault tolerant control scheme will be described. In the scenario considered in this paper, each thruster is an actuator potentially affected by faults. The basic idea is that, whenever a failure is detected and identied, a supervisor performs a control reconguration exploiting thrusters redundancy (three propellers are enough to control the ROV trajectory). Accordingly, the FDI scheme considered here consists of: 1) a supervisor, in charge of performing the control reconguration among the available set of redundant inputs, according to the output of the FDI device; 2) a fault detection (FD) unit, based on residual analysis; 3) a fault isolation (FI) unit, monitoring the three decoupled sliding surfaces, each of which is affected by a unique thruster; 4) a robust sliding mode-based control law, designed on a decoupled model of the ROV, able to guarantee the desired control performances accounting also for the faulty thruster. The addressed potential faults belong to a wide class. First, the socalled abrupt fault are considered. They are described by a step function, modeling the case when the faulty variable is instantaneously stuck to an unknown but bounded value. Such fault may occur when a failure of a component produce a sudden deviation of the actuator dynamics as for example a valve completely failing to open or close, a short circuit in the motor circuitry. This type of thruster faults has the following model where the failure times are unknown. In other words where the failure times are unknown. In other words, when a fault does occur on a thruster, this causes the complete and permanent unavailability of the considered actuator at unknown time instant. This means that, from the unknown time instant , it is not possible to recover the thruster functionality and thus only the remaining working thrusters can be used to control the vehicle. The case when a thruster undergoes a failure occurs. Also, the behavior of a faulty device can be consequence of deterioration, obsolescence or cumulation phenomena (cumulation of sediment, wear of impeller casing, silt within pipelines, leaks in the machinery, erosion). These phenomena produce a small instantaneous deviation of the actuator behavior, but it cumulates in time; as a result, these faults can result in a loss of efciency within the system.

A usual way to mathematically describe such temporal behavior is assuming that the development of the fault is given by

where , i.e., the loss of effectiveness slowly changes from zero (i.e., no fault is present) to a steady-state value . The following Assumption is needed. Assumption 4: Only one of the four thrusters can undergo a fault, i.e., multiple thruster faults cannot be admitted. Moreover, it is assumed that any fault does not compromise controllability of the plant driven by the remaining healthy thrusters.

CHAPTER 4
FAULT DETECTION: THE RESIDUAL GENERATOR MODULE

The residual generator module is able to generate the residuals exploiting the main ideas of the structural analysis . Structural analysis is a tool which investigates the structural properties of dynamical system by analyzing its structural model . The basic tool for the structural analysis is the concept of matching on matrix incidence or on a bipartite graph.Amatching is a causal assignment which associates some system variables with the system constraints from which they can be calculated. Variables contained in constraints that cannot be matched, cannot be calculated. Variables contained in constraints that can be matched in several ways, can be calculated by different (redundant) means, thus providing means for fault detection and a possibility for reconguration . Matching on a structure graph of a dynamic system can disclose which subset of equations provide a redundant description of the system. The matching process is essentially a way to indicate which equations (or constraints) in a nonlinear system are needed to nd a solution for its variables. When there are more equations than needed, excess equations can be used to check for validity of observations. If such an excess equation, called unmatched constraint and known as residual, is not valid, this will indicate the presence of a fault in the system. The matching algorithm identies the overdetermined parts of the system . The result is a list of matched and unmatched constraints. The matched constraints result while the unmatched constraints . Each of the unmatched constraints gives a parity equation

Figure 4.1: Incidence Matrix. The detection equations are derived by back tracing the matching of the unknown variables involved in the unmatched constraints until only known variables are part of the expression. Back tracing unknown variables to known variables gives three residuals:

The role of the decision module is to determine whether the residuals differ significantly from zero and, from pattern of zero and nonzero residuals, to decide which are the most likely fault/ failure effects, and in turn, which components could be the origin of a fault or a failure. Residual evaluation consists to detect a change in the mean of a normally distributed random sequence, which can be achieved by sequential change detection algorithms like the cumulative sum (CUSUM) algorithm . This algorithm is chosen to design the decision module of the failure detection system of the ROV. Assumption 5: No faults occur during an initial transient phase immediately after the startup of the ROV. This is not a limiting assumption, in view of the ROV types of utilization and the missions the vehicle is expected to carry out.

10

CHAPTER 5
FAULT ISOLATION

Once a failure is detected by FD module, the sliding-mode controller can be also exploited to perform fault isolation. Indeed, it can be simply performed using the following check on the components of the sliding surface , since each component is affected only by a single thruster It follows that, whenever a fault has been detected by the FD module, the thruster associated to the nonzero component of the sliding surface (if any) is to be considered the failed actuator. In case no violation is detected by the FI module, then the occurrence a false alarm will be signaled to the supervisor.

Remark 6: The practical implementation of the previous rule requires of course the use of a nonzero threshold , which could also coincide with the width of the boundary layer needed, as well known, to avoid chattering .

Remark 7: About the eventual effect of sliding modes on fault signatures, it should be noticed that if a fault detected by the residual generator does not affect any component of the sliding surface, it simply means that the controller and the whole control system is behaving correctly. It follows that signatures are not destroyed, but the fault is isolated as soon as it becomes serious enough to disturb the effectiveness of the controller.

CHAPTER 6
CONTROL RECONFIGURATION

After a failure has been detected and isolated by the FD and FI module respectively, the supervisor has to perform a control reconguration to preserve the desired performances in face of the failure occurrence. In particular, the inherent redundancy of the considered ROV can be exploited for fault accommodation. Consider the transformed decoupled plant , derived setting to an arbitrary value, for an arbitrary integer . Assume that a fault is detected, and that the failed thruster isolated by the FI module (i.e., associated to the increasing component of the sliding surface) is the th. It is then convenient to rewrite the model as follows:

and to transform the system by a nonlinear change of coordinates of the form , thus getting the model.In other words the plant model is rearranged including the previously unused thruster among the working actuators, and including the th failed thruster in the bounding functions . Then, the sliding mode controller is derived using this model, following the lines described in Section III-C. In particular, the bounding functions are derived using the upper bound for the failed actuator , which appears in the function .

CHAPTER 7
CONCLUSION

In view of the robustness properties of sliding-mode control, this procedure guarantees the robust asymptotical vanishing of the tracking errors also in the presence of a faulty actuator (with known upper bound), i.e., that robust regulation is achieved asymptotically. Eventhough one of the actuator fails due to some reason it will be detected by the fault detection module and then the corresponding thruster will be isolated by the fault isolation module.After that control reconguration is done and the ROV will now operate using the three healthy actuators.

REFERENCES
[1] Maria Letizia Corradini, Andrea Monteriu, and Giuseppe Orlando, An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle,IEEE Trans. Control Syst.Tech, vol. 19, no. 5, pp. 1036-1046, Sep. 2011. [2] M.Blanke, H.Niemann, nd T.Lorentzen, Structural Analysis- A case study of romer satellite.Proc,IFAC Safeprocess,Washington,DC,2003. [3] V.Coocquempot, R.Izadi-Zamanabadi, M.Staroswiecki, and M.Blanke, Residual generation for the ship benchmark using structural approach,Proc.UKACC Int.Conf.(Conf.Publ.455), pp. 1480-1485, 1998. [4] V.Utkin, Sliding Modes in Control Optimization,Berlin,Germany, Springer Verlag, 1992.

14