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Fault Tolerant Control of the Electric Propulsion 17
for Autonomous Surface Vehicles

that regulates autonomous surface vehicles and these vessels differ greatly in appearance and
functionality depending on the production of the unit and its intended function.

Figure 2. Rendering view of ASV developed by ASV Global
ASVs are a relatively new technology and have a brief history. Early ASVs were designed mostly
for educational use. Further advancement of ASVs has been due to the rapid progression of
technology. For example, Global Positioning System Receivers (GPSR) have become more
compact, affordable, and easily available. Today, most ASVs exist as prototypes being developed
by private interest groups and are not being applied to perform routine or standardized tasks.
There exists at least one company, Liquid Robotics, which markets its ASVs to the commercial
market.

Figure 3. General Electrical Propulsion System of ASV
4. Fault Diagram of the ASV’s Propulsion System
This system composed by the control unit, GPS and propulsion system. Above those components,
a controller calculates set-points for shaft speed nref, referenced current for cruising speed Iref
and referenced location Xref setted up previously proper to operation area. The objective of the
propulsion system is to maintain the boat’s ability to propel itself and to maneuver, varying shaft
speed and location.

Sayı 5, 2016 GiDB|DERGi