JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (5): 57-63.doi: 10.6040/j.issn.1672-3961.0.2017.210

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Fault-tolerant control of autonomous underwater vehicle based on adaptive region tracking

CHU Zhenzhong, ZHU Daqi   

  1. College of Information Engineering, Shanghai Maritime University, Shanghai 201306, China
  • Received:2017-04-25 Online:2017-10-20 Published:2017-04-25

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Abstract: An adaptive region tracking fault-tolerant control for the thrusters of autonomous underwater vehicle was proposed. Different from the traditional fault-tolerant control methods of autonomous underwater vehicle, the region tracking control theory was adopted, and the control target was designed as a spatial region. For the uncertainty and thruster fault in the system, the neural network was used to identify them online. Considering the problem of the divergence of neural network caused by the thrust saturation during the thruster fault, a neural network weight adjustment method based on a saturation factor was proposed. The effectiveness of the proposed method was verified by simulation.

Key words: fault-tolerant control, autonomous underwater vehicle, thrusters, region tracking, adaptive

CLC Number: 

  • TP27
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