A REPORT ON RISK ASSESSMENT OF UNDERWATER GLIDERS USING UNCERTAINTY ANALYSIS AND FAULT TOLERANT CONTROL

Abstract

Underwater gliders are important autonomous underwater vehicles for ocean observations. They are characterized by long endurance, low speed and high efficiency. Improvement of these vehicles can be achieved through decreasing uncertainties and increasing reliability in navigation. Uncertainty and reliability analysis is an efficient way of determining key points that have to be improved. Also, FTC is a widely used control method in autonomous systems, satisfying system continuity in errors. It is essential to apply it to underwater glider navigation system. Uncertainty analysis and FTC method can be used together to enhance system behavior and further determine important design factors