A New Method for Automatic Actuator Fault Diagnosis for Autonomous Underwater Vehicles

Through the following thesis, the problem of the FDI applied to an UUV is developed. Before this design, the mathematical model, a Simulink simulator and a PI control are presented. Finally, the system robustness to parameters variations is tested. Generally, on a vehicle, faulty conditions on some vehicle components, like thrusters, sensors or any other components, cause a reduction of performances or loss of stability, so that it is necessary a fault-tolerant control systems in order to detect the fault and isolate it from other inputs, or disturbance acting on the system dynamic, ensuring finally the required performance and stability.