Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Alessandri A., Caccia M., Veruggio G. A model-based approach to fault diagnosis in unmanned underwater vehicles. In: Oceans '98 - Conference proceedings (Nice, France, 28 September-1 October 1998). Proceedings, vol. 2 pp. 825 - 829. IEEE, 1998.
Actuator faults have been considered using an approximate model of the vehicle dynamics. Fault diagnosis is accomplished by means of a bank of estimators: a filter is implemented for each actuator's fault type, including the no-fault case. The estimators are extended Kalman filters due to the presence of nonlinearities in the dynamic models. Experimental results are reported to demonstrate the effectiveness of the proposed approach.
DOI: 10.1109/OCEANS.1998.724353
Subject Kalman filters
fault diagnosis
underwater vehicles

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