This paper addresses the sensor fusion problem applied to an underwater breathing apparatus. In such systems hardware redundancy is used for safety reasons: in order to overcome any dangerous situations eventually coming from sensor faults, the measurement is taken by using three sensors that measure the same variable (oxygen partial pressure). Thus a sensor fusion scheme is needed in order to feed-back the measurement for controlling purposes. The work presents a fusion algorithm that uses a sliding mode observer for taking into account model information, and combine the different measurements by looking at how they behave with respect to the observer prediction. A forgetting factor approach is used for making more reactive the algorithm. Extensive simulations show the effectiveness of the proposed solution comparing results with a more traditional approach like the voting logic.
Sensor fusion by using a sliding observer for an underwater breathing system / S., Carotenuto; L., Iannelli; Manfredi, Sabato; Santini, Stefania. - STAMPA. - I:(2005), pp. 583399.7662-583399.7667. (Intervento presentato al convegno IEEE Conference on Decision and Control and European Control Conference tenutosi a Seville (Spain) nel dicembre 2005) [10.1109/CDC.2005.1583399].
Sensor fusion by using a sliding observer for an underwater breathing system
MANFREDI, SABATO;SANTINI, STEFANIA
2005
Abstract
This paper addresses the sensor fusion problem applied to an underwater breathing apparatus. In such systems hardware redundancy is used for safety reasons: in order to overcome any dangerous situations eventually coming from sensor faults, the measurement is taken by using three sensors that measure the same variable (oxygen partial pressure). Thus a sensor fusion scheme is needed in order to feed-back the measurement for controlling purposes. The work presents a fusion algorithm that uses a sliding mode observer for taking into account model information, and combine the different measurements by looking at how they behave with respect to the observer prediction. A forgetting factor approach is used for making more reactive the algorithm. Extensive simulations show the effectiveness of the proposed solution comparing results with a more traditional approach like the voting logic.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.