(
2011)
Bruno Miguel Ferreira; Aníbal Matos; Nuno Cruz
Control theory has been applied to several domains where practical considerations are
relevant. Robotics is a notable example of this. In most cases, mobile robotic systems
are governed such that their behavior obeys to a defined motion. However, during their
operations, it is conceivable that faults could occur. Indeed, this assumption has to be made
in order to predict a possible malfunction and to take an appropriate action according to
the fault, improving the robustness and the reliability of the system. This work tackles the
problem of fault detection, identification and automatic reconfiguration of an autonomous
underwater vehicle (AUV). Although our emphasis will be directed to an AUV, the methods
and the tools that are employed in this chapter can be easily extended to other engineering
problems beyond robotics.