Fotis Panetsos

Fault Diagnosis for Underwater Vehicles using Moving Horizon Estimation and Gaussian Processes

This work proposes a model-based fault detection and diagnosis framework for underwater vehicles subject to actuator faults that explicitly accounts for the presence of unmodeled dynamics. To this end, a Moving Horizon Estimator (MHE) is developed to estimate the lumped disturbance, capturing both unmodeled and fault e...