Synthesys of Adaptive Control System for Thrusters of Underwater Robots Using Technical Diagnostics

摘要

The paper describes the development of adaptive control system for thrusters of underwater robots that allows you to compensate for the consequences of single and paired faults. This system., due to the additional control signals formed., make it possible to maintain operability and ensure stabilization of the most important characteristics of thrusters in the event of unexpected faults. Control signals are formed taking into account estimates of the values of deviations of the parameters of the thrusters from their nominal values and errors in the readings of sensors of angular velocity of thrusters. The operability and high efficiency of the developed system was confirmed by simulation.