Study on simultaneous Fault Tolerant Control of AUV thrusters

Fault tolerant control (FTC) is one of the key technologies of autonomous underwater vehicle (AUV). Based on the thruster fault description and the generic model control(GMC) method , an active fault-tolerant control method is presented to adapt the condition of the deficient thrust fault for multiple thrusters. Having researched the description style of the thruster faults of the additive faults and the multiplicative faults, the fault state expression is described while multiple thrusters appear the additive and multiplicative faults simultaneously. An online reconfiguration method is presented, by multiplying the multiplicative fault function and adding the additive fault term. Finally, a fault diagnosis and tolerant control system for multiple thrusters simultaneous faults was designed. The pool experiment results of the AUV experiment platform show that the thrust deficiency fault-tolerant control method is effective to deal with the simultaneous fault of AUV thrusters.