P-V Plane Based Active Fault-Tolerant Control Trajectory Tracking for Dish-Shaped AUV Against Complete Failure of Multiple Propellers

This paper proposes an active fault-tolerant control (AFTC) algorithm for 3D trajectory tracking of dish-shaped autonomous underwater vehicle (DAUV) with multiple propellers complete failure. To address the reduced degrees of freedom (DoF) issue resulting from propeller failure, the remaining controllable DoF of the faulty system is divided into essential and non-essential DoF. For the essential DoF, a sliding mode controller based on the P-V plane is designed to ensure trajectory tracking. For the non-essential DoF, an attitude stabilization controller is designed to generate the optimal torque for suppressing DAUV rotation under constrained DoF. Subsequently, the virtual control forces and torques calculated through the above controllers will be allocated to the valid propellers through the Moore-Penrose inverse. Finally, simulation experiments verify the effectiveness of the proposed AFTC algorithm. The algorithm can adapt to propeller failures, even in the complete failure of multiple propellers.