Research on the Fault-tolerant Control Method of Underwater Vehicle Using Sliding Modes

摘要

A fault-tolerant control method using sliding modes based on control re-allocation is proposed to overcoming the underwater vehicle's actuators different degrees jam faults. Firstly, the effectiveness level of the actuators is computed by the fault estimator according to the mapping of the underwater vehicle's inputs and outputs. Then the outputs of sliding modes controller are re-allocated according to the estimating results to ensure the stability of the underwater vehicle under the faults, lastly, the proposed fault-tolerant control strategy is illustrated by a simulation with its efficiency being shown to different degrees of actuators faults.