Decentralized fault-tolerant recovery control of multiple unmanned underwater vehicles on heterogeneous networks

Abstract

This article focused on a decentralized multiple unmanned underwater vehicles (UUV) system fault-tolerant recovery controller. Several UUVs' actuators have multiplicative faults. The multi-UUV recovery problem has been changed into the virtual leader coordinated control problem. Due to the constraints and limitations of the underwater acoustic communication system, which has a limited communication bandwidth, this research uses different position and velocity networks in a multi-UUV recovery system. Therefore, the communication topology is under a heterogeneous undirectly topology. The actuator efficiency could not be the same in each UUV. The UUV's actuator fault factor can be obtained by a physical device or an analysis algorithm, which can adjust controller parameters in real time. A linearization method was applied to change the dynamics and kinematics of the UUV model into a second-order integral model. Then, the suitable Lyapunov functional approach is used to prove the system's astringency and stability, and the algorithm's effectiveness is simulated numerically.