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- W2384328800 abstract "In order to improve the reliability of Remote Operated Vehicles(ROV),force allocation model and fault tolerant control based on recurrent neural network were studied.In the research of SY-Ⅱ ROV thrusters' position,force allocation model had been established.On the Basis of this model,the energy function concerning ROV control had been established through duality priciple.Thus the fault tolerant algorithm with recurrent neural network format had been developed.Simulations and experiments results displayed that algorithm was very robust and could reallocate thrust force according to different fault conditions.The horizontal 2-DOF fault tolerant control can be accomplished when one main thruster and any other one working properly,while others in fault.Therefore the algorithm is proved superiority,the reliability and safety for ROV have been improved." @default.
- W2384328800 created "2016-06-24" @default.
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- W2384328800 date "2012-01-01" @default.
- W2384328800 modified "2023-09-26" @default.
- W2384328800 title "Fault Tolerance Control of SY-II Remote Operated Vehicle" @default.
- W2384328800 hasPublicationYear "2012" @default.
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