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In this paper, a novel zonotopic velocity sensor fault detection approach for autonomous underwater vehicles is presented. To make the generated residual robust against disturbance, we develop a fault detection observer based on \(\text {H}_{\infty }\) performance index. Sufficient design conditions are formulated in terms of linear matrix inequalities. Fault detection is accomplished by checking whether the zero point lies outside the residual zonotope. The performance of the presented approach is analyzed via a minimum detectable fault set. Simulation examples are given to validate the effectiveness and feasibility of the presented approach.

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Zonotopic Velocity Sensor Fault Detection for Autonomous Underwater Vehicle: An LMI Approach

  • 章节

  • 发表日期：

    2026年

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  • Jitao Li,
  • Yuxi Liu,
  • Yushi Zhang,
  • Mingjun Zhang,
  • Zhenhua Wang

摘要

In this paper, a novel zonotopic velocity sensor fault detection approach for autonomous underwater vehicles is presented. To make the generated residual robust against disturbance, we develop a fault detection observer based on \(\text {H}_{\infty }\) performance index. Sufficient design conditions are formulated in terms of linear matrix inequalities. Fault detection is accomplished by checking whether the zero point lies outside the residual zonotope. The performance of the presented approach is analyzed via a minimum detectable fault set. Simulation examples are given to validate the effectiveness and feasibility of the presented approach.