Fault-tolerant control allocation technique based on explicit optimization applied to an autonomous underwater vehicle

In this work, a fault-tolerant control allocation technique is applied to FlatFish, an autonomous underwater inspection vehicle. The technique is based on multi-parametric programming and it's able to handle thruster failures and saturation. Special attention was given to obtain a small solution set, in order to guarantee feasibility for real-time implementation. The experiments consisted in performing an inspection plan around a Subsea Isolation Valve (SSIV) for evaluating the technique's capabilities.