Fault-Tolerant Control for Underwater Vehicle with Actuator Saturation and Faults

Abstract

Underwater vehicle system, as a kind of special machine capable of underwater resource exploration, submarine pipeline maintenance, marine environment reconnaissance and submarine rescue, is a common tool in modern marine exploitation. Underwater vehicles play an important role in the survey and exploration of marine resource. The fault tolerant control for underwater vehicle system with external disturbance and actuator faults is studied in this paper. The fault observer can estimate the fault in the existence of disturbance environment. A sufficient condition for the existence of fault observer is proposed which guarantees the stability of the closed-loop system under actuator faults. Moreover, a fault-tolerant controller is developed to compensate for the failure effects on the system by updating the design feedback matrices online. For the fault-tolerant controller, Lyapunov function is used to obtain the stability for underwater vehicle system about actuator saturation. Finally, an example is included to show the effectiveness of the presented theory.