Nonlinear Programming-Based Fault-Tolerant Control for X-Rudder AUVs

To fully utilize the fault-tolerant capability of the X-rudder autonomous undersea vehicles (AUVs), a fault-tolerant motion control algorithm for AUVs oriented towards rudder failures was proposed, and it was deployed on a prototype of an X-rudder AUV. The fault-tolerant motion control algorithm con...

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Bibliographic Details
Published in水下无人系统学报 Vol. 32; no. 2; pp. 345 - 353
Main Author Ying CHEN
Format Journal Article
LanguageChinese
Published Science Press (China) 01.04.2024
Subjects
autonomous undersea vehicle
control allocation
fault-tolerant control
nonlinear programming
x-rudder
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Summary:To fully utilize the fault-tolerant capability of the X-rudder autonomous undersea vehicles (AUVs), a fault-tolerant motion control algorithm for AUVs oriented towards rudder failures was proposed, and it was deployed on a prototype of an X-rudder AUV. The fault-tolerant motion control algorithm consisted of two parts: dynamics control and control allocation. In dynamics control, the introduction of a multi-loop incremental feedback control algorithm could make the output virtual rudder instruction smooth and gentle. The control allocation algorithm converted the virtual rudder to the control input of the X-rudder actuator by solving a nonlinear programming problem, with the optimization goal of minimizing the allocation error and control output, and the constraints of rudder failure, rudder angle saturation, and other physical limitations were considered. This also enabled the X-rudder AUV to have fault-tolerant motion capabilities. Field trial results show that the rudder instructions generated by the fault
ISSN:2096-3920
DOI:10.11993/j.issn.2096-3920.2023-0133