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Abstract
In this paper, an integrated design of fault diagnosis and active fault-tolerant control is proposed for a submarine semi-physical simulation system in the presence of unknown faults of rudder systems. The semi-physical simulation system is constructed by combining two real rudder control systems and a virtual mathematical model for the vertical movement control of a submarine. The separate modules of the semi-physical simulation system are connected by industrial communication technologies. Then, an active fault-tolerant controller is designed for unknown rudder system faults. Finally, the results of the semi-physical simulation experiments verify the effectiveness of the proposed fault-tolerant control method, and make a solid foundation for designing an active fault-tolerant control system for a real submarine.
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