A novel thruster fault diagnosis and accommodation system for open-frame underwater vehicles with incipient fault is presented in the paper. The proposed system consists of two subsystems: a fault diagnosis subsystem and a fault accommodation sub-system. In the fault diagnosis subsystem a ICMAC (Improved Credit Assignment Cerebellar Model Articulation Controllers) neural network is used to realize the on-line fault identification and the weighting matrix computation. The fault accommodation subsystem uses a control algorithm based on weighted pseudo-inverse and fault identification result to find the solution of the control allocation problem. To illustrate the proposed method effective, the simulation example is given in the paper under uncertain incipient fault.
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