Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles (UUVs) systems with sensor faults, input saturation, and external disturbance caused by waves and ocean currents. An active sensor fault-tolerant control scheme is proposed. First, the developed method only requires the inertia matrix of the UUV, without other dynamic information, and can handle both additive and multiplicative sensor faults. Subsequently, an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method. It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator. With the proposed controller, the tracking error and estimation error can asymptotically converge to zero. Finally, simulation results are performed to demonstrate the effectiveness of the proposed method.