An Actuator Failure Tolerant Approach for Underwater Remotely Operated Vehicles

This paper presents a preliminary set of results on the design of an Actuator Failure Tolerant Control Systems for an underwater remotely operated vehicle (ROV). The approach consists of two phases. First a model-based approach is applied to the nonlinear model of the ROV for failure detection purposes. Successively, using a Sliding Mode Control based approach, the failure is isolated and the control law is reconfigured using the remaining working actuators