Research on Reconfigurable Fault Tolerant Control of X-Rudder AUV

This paper conducts the research on the motion control and reconfigurable fault tolerant control of the X-rudder Autonomous Underwater Vehicle (AUV). It employs a fuzzy PID control method and Sequential Quadratic Programming (SQP) for rudder angle allocation, achieving control over the AUV's velocity, depth, and yaw. For reconfigurable fault tolerant control of the X-rudder, various rudder fault types are simulated, including single-rudder chattering fault, single-rudder blade loss fault, and dual-rudder jamming fault. Fault tolerant control strategies are proposed, and simulation experiments verify the effectiveness of these methods.