Tracking fault-tolerant control based on model predictive control for human occupied vehicle in three-dimensional underwater workspace

Abstract

In this paper, for the human occupied vehicle (HOV) system, a cascaded dynamic tracking controller for thruster fault is proposed in three-dimensional underwater workspace. Firstly, the control strategies are used to reallocate the thruster forces based on quantum-behaved particle swarm optimization (QPSO) for thruster failure. Secondly, the kinematics controller based on QPSO-model predictive control (MPC) is designed to obtain the speed control signal. QPSO-MPC with speed constrained optimization is proposed to solve speed jump problem caused by thruster failure. Finally, the kinematics controller is used in conjunction with dynamics controller based on the adaptive control to achieve dynamic tracking control which can solve the driving saturation problem caused by thruster failure and tracking disturbance problem by unknown ocean current disturbance. Simulation results showed the proposed dynamic tracking control with fault-tolerant control could realize stable trajectory tracking for thruster failure without the driving saturation in three-dimensional ocean current environment. • The thruster fault-tolerant control method based on QPSO is investigated for HOV. • MPC is employed to realize solution to the speed jump problem. • The speed synthesis method was combined to take the effect of the ocean current into the design of kinematics control law. • For the unknown ocean current, an observer based on adaptive-PI control was designed to estimate it.