Robust fault diagnosis of underwater robots based on observers

摘要

To improve the correct rate of fault detection for underwater robots while decreasing the false alarm rate and missing report rate,the nonlinear sliding-mode observer was designed based on the motion equations,and the underwater robots' system identification was undertaken based on the observer. The observer was applied both to sensor fault diagnosis simulation experiments and thruster sea trials for underwater robots,and the results verify the validity and feasibility of the proposed method.