Ghulam Farid

RL-Augmented Dual Robust Adaptive Propagated Interval Observer for Actuator and Residual-Framed Sensor Fault Detection and Isolation in Underactuated AUVs

Reliable fault detection and isolation (FDI) for actuators and sensors in underactuated autonomous underwater vehicles (AUVs) is challenging because nonlinear hydrodynamic coupling redistributes fault signatures, and persistent ocean currents can trigger false alarms. This paper...