Adaptive fault-tolerant control for an autonomous underwater vehicle

摘要

In recent years, using autonomous underwater vehicles (AUVs) for submarine missions has increased substantially.One of the problems in controlling these nonlinear devices is the possibility of a fault in the system operators. Failurecauses increased operating costs and reduced vehicle performance. Therefore, the use of fault tolerance control isessential to ensure the stability and ability of the device to continue its activity. The focus of this article is on thetrajectory tracking control for an underactuated AUV with actuator faults using kinematics and dynamics modeling.An adaptive rule is used as an online estimation to compensate for malfunctions in robot performance. In this regard,the adaptive fault-tolerant control plan is proposed, so that the closed-loop system is stable, and all control objectivesare achievable.At first, the dynamic model ofAUVwith actuator fault and disturbance is described.Next, the controlalgorithm is designed for trajectory tracking in the presence of time-varying disturbances and actuator faults. Theproposed adaptive rules will overcome disturbances and actuator faults. Finally, to illustrate the effectiveness of theproposed method, the provided controller is compared with other common control methods.