Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle

Tahiyatul Asfihani; Fadia Nila Sihan Novita Lutfiani; Ahmad Maulana Syafi’i; Subchan Subchan; Agus Hasan

doi:10.1007/978-981-97-2136-8_12

Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle

Tahiyatul Asfihani^*, Fadia Nila Sihan Novita Lutfiani, Ahmad Maulana Syafi’i, Subchan Subchan, Agus Hasan

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Actuator systems in unmanned surface vehicles (USV) are prone to failure. To guarantee safe and successful autonomous operations, actuator systems must be monitored. However, sensors monitoring actuator systems are often unavailable. Hence, the actuator fault must be estimated. This paper presents an adaptive Kalman filter (AKF) algorithm for actuator fault estimation in USV based on position, velocity, and orientation sensors. Numerical results show the benefit of using the AKF. Furthermore, the presented method is validated using a USV with an actuator fault in the experiment.

Original language	English
Title of host publication	Applied and Computational Mathematics - ICoMPAC 2023
Editors	Dieky Adzkiya, Kistosil Fahim
Publisher	Springer
Pages	149-158
Number of pages	10
ISBN (Print)	9789819721351
DOIs	https://doi.org/10.1007/978-981-97-2136-8_12
Publication status	Published - 2024
Event	8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023 - Lombok, Indonesia Duration: 30 Sept 2023 → 30 Sept 2023

Publication series

Name	Springer Proceedings in Mathematics and Statistics
Volume	455
ISSN (Print)	2194-1009
ISSN (Electronic)	2194-1017

Conference

Conference	8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023
Country/Territory	Indonesia
City	Lombok
Period	30/09/23 → 30/09/23

Keywords

Actuator
Experimental data
Fault
Rudder
USV

Access to Document

10.1007/978-981-97-2136-8_12

Cite this

Asfihani, T., Lutfiani, F. N. S. N., Syafi’i, A. M., Subchan, S., & Hasan, A. (2024). Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle. In D. Adzkiya, & K. Fahim (Eds.), Applied and Computational Mathematics - ICoMPAC 2023 (pp. 149-158). (Springer Proceedings in Mathematics and Statistics; Vol. 455). Springer. https://doi.org/10.1007/978-981-97-2136-8_12

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title = "Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle",

abstract = "Actuator systems in unmanned surface vehicles (USV) are prone to failure. To guarantee safe and successful autonomous operations, actuator systems must be monitored. However, sensors monitoring actuator systems are often unavailable. Hence, the actuator fault must be estimated. This paper presents an adaptive Kalman filter (AKF) algorithm for actuator fault estimation in USV based on position, velocity, and orientation sensors. Numerical results show the benefit of using the AKF. Furthermore, the presented method is validated using a USV with an actuator fault in the experiment.",

keywords = "Actuator, Experimental data, Fault, Rudder, USV",

author = "Tahiyatul Asfihani and Lutfiani, {Fadia Nila Sihan Novita} and Syafi{\textquoteright}i, {Ahmad Maulana} and Subchan Subchan and Agus Hasan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023 ; Conference date: 30-09-2023 Through 30-09-2023",

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language = "English",

isbn = "9789819721351",

series = "Springer Proceedings in Mathematics and Statistics",

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Asfihani, T, Lutfiani, FNSN, Syafi’i, AM, Subchan, S & Hasan, A 2024, Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle. in D Adzkiya & K Fahim (eds), Applied and Computational Mathematics - ICoMPAC 2023. Springer Proceedings in Mathematics and Statistics, vol. 455, Springer, pp. 149-158, 8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023, Lombok, Indonesia, 30/09/23. https://doi.org/10.1007/978-981-97-2136-8_12

Adaptive Kalman Filter for Automated Actuator Fault Diagnosis in Unmanned Surface Vehicle. / Asfihani, Tahiyatul; Lutfiani, Fadia Nila Sihan Novita; Syafi’i, Ahmad Maulana et al.
Applied and Computational Mathematics - ICoMPAC 2023. ed. / Dieky Adzkiya; Kistosil Fahim. Springer, 2024. p. 149-158 (Springer Proceedings in Mathematics and Statistics; Vol. 455).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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