Research on reconstructive fault-tolerant control of an X-rudder AUV

To ensure the X-rudder autonomous underwater vehicle (AUV) complete the mission in the case of motion actuators failure, a fault-tolerant motion control method based on reconstructive approach is designed in this paper. This fault-tolerant motion control method is composed by double-rudder allocation and triple-rudder allocation, which are based on X rudder's characteristics. One simulation is built to test the ability of fault-tolerant motion control method. In the simulation, one of X rudder is in the fault of rudder-jamming during the lawnmower path following mission. The control results show that the X-rudder AUV can finish the mission under that situation and it means the fault-tolerant motion control method based on reconstructive approach is useful.