Autonomous Underwater Vehicle Actuators Health Monitoring for Smart Harbour Application

This work addresses a model based Fault Detection and Isolation problem for the actuators of the Odin Autonomous Underwater Vehicle. The model considered is the nonlinear 6 Dof Fossen model. In this article a new Autonomous Underwater Vehicle Fault Detection and Isolation system, based on the Non Linear Geometric Approach, resulting in a dedicated bank of scalar filters allowing simultaneous Fault Detection and Isolation, is proposed. The structural conditions for actuator fault diagnosability are analytically demonstrated. The results obtained by means of high fidelity simulations demonstrate the effectiveness and the reliability of the proposed methodology. The proposed Health Monitoring system can be successfully applied in Smart Harbour Autonomous Underwater Vehicle applications.