A Linear Extended State Observer-based Fuzzy Fault tolerant Controller for Autonomous Underwater Vehicle

A linear extended state observer (LESO) based fuzzy fault tolerant control (FTC) scheme is designed for an over-actuated autonomous underwater vehicle (AUV) to address the faults of actuators. In this scheme, both the faults of the actuators and other immeasurable disturbances are lumped into a generalized total disturbance, which is then estimated by a LESO. Next, the thruster forces of the over-actuated system are reallocated to keep the AUV tracking of the desired trajectory. To tune the parameters of the proposed scheme, a fuzzy logic controller is developed to make sure the parameters of the scheme achieve online self-tuning.