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A Survey on Fault Tolerant Control of Unmanned Underwater Vehicles

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Artificial Intelligence and Data Science Based R&D Interventions (NERC 2022)

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Abstract

Unmanned underwater vehicles have expanded their market size owing to growth in demand for underwater exploration, underwater defense vehicles, and subsea construction. High-resolution cameras, sonar technology, battery technology, better manipulators, and other advances in UUV technologies have led to reduced computational time and effort for underwater inspection and exploration. But the dynamic underwater environment like underwater currents and waves, uncertainty in the modeling of underwater vehicles, and problems of precise motion control pose a challenge to UUV control. The severity of these control challenges is increased by the presence of faults, namely, failure of thrusters, sensors, and any other equipment which may result in an incomplete mission. Fault tolerant control ensures that the system is able to achieve its intended performance with certain limits even in the presence of faults. To address the fault related stability and performance issues in UUVs, fault tolerant techniques have been studied. Fault detection and diagnosis (FDD) and control redesign form the two parts of the fault tolerant control system (FTCS). FDD deals with the fault occurrence, location, nature, and magnitude, whereas control redesign consists of fault accommodation and control reconfiguration. In this review paper, a detailed study of different faults, FDD techniques, and control redesign methods is done with respect to UUVs. Finally, the future prospects in the area of fault tolerant control are presented.

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Acknowledgements

The authors acknowledge the support provided by the IITG TIDF (Technology Innovation and Development Foundation) at the Indian Institute of Technology, Guwahati campus in providing computers (PCs) for conducting the extensive literature review presented in this paper.

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  1. Department of Mechanical Engineering, IIT Guwahati, Guwahati, India

    Shivani Raj, Basireddy Sandeep Reddy & Arup Deka

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  1. Shivani Raj
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  2. Basireddy Sandeep Reddy
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  3. Arup Deka
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Correspondence to Shivani Raj .

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Editors and Affiliations

  1. Department of Electronics and Electrical Engineering and Head Mehta Family School of Data Science and Artificial Intelligence, Indian Institute of Technology Guwahati, Guwahati, Assam, India

    Ratnajit Bhattacharjee

  2. Mehta Family School of Data Science and Artificial Intelligence, Indian Institute of Technology Guwahati, Guwahati, India

    Debanga Raj Neog

  3. Mehta Family School of Data Science and Artificial Intelligence, Indian Institute of Technology Guwahati, Guwahati, India

    Konda Reddy Mopuri

  4. Mehta Family School of Data Science and Artificial Intelligence, Indian Institute of Technology Guwahati, Guwahati, India

    Santosh Kumar Vipparthi

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Raj, S., Reddy, B.S., Deka, A. (2023). A Survey on Fault Tolerant Control of Unmanned Underwater Vehicles. In: Bhattacharjee, R., Neog, D.R., Mopuri, K.R., Vipparthi, S.K. (eds) Artificial Intelligence and Data Science Based R&D Interventions. NERC 2022. Springer, Singapore. https://doi.org/10.1007/978-981-99-2609-1_11

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