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Fault-Tolerant Control of Autonomous Underwater Vehicle Actuators Based on Takagi and Sugeno Fuzzy and Pseudo-Inverse Quadratic Programming under Constraints

  • 0School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.
Sensors (basel, Switzerland) +

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May 25, 2024

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May 25, 2024

View abstract on PubMed

Summary

This summary is machine-generated.

This study introduces a fault-tolerant control strategy for Autonomous Underwater Vehicles (AUVs) using fuzzy logic and quadratic programming. The method ensures normal actuator thrust despite faults and control constraints.

Area Of Science

  • Robotics
  • Control Systems Engineering
  • Marine Technology

Background

  • Autonomous Underwater Vehicles (AUVs) are crucial for ocean research and resource development.
  • AUV actuator fault-tolerant control is challenging due to environmental uncertainty and complex motion.
  • Existing control strategies often struggle with actuator faults under operational constraints.

Purpose Of The Study

  • To develop a robust fault-tolerant control strategy for AUV actuators.
  • To address actuator faults and control constraints in AUVs.
  • To enhance the reliability and operational capability of AUVs in marine environments.

Main Methods

  • Design of a Takagi-Sugeno (T-S) fuzzy controller for steady-state and dynamic performance.
  • Utilizing a pseudo-inverse method for thrust allocation in redundant actuator configurations.
  • Employing quadratic programming to compensate for control input limitations under constraints.

Main Results

  • The proposed T-S fuzzy controller ensures system performance.
  • The pseudo-inverse method with quadratic programming effectively handles actuator faults.
  • Simulations confirm the compensation for missing control inputs due to constraints, maintaining normal AUV actuator thrust.

Conclusions

  • The integrated fuzzy logic and quadratic programming approach provides effective fault-tolerant control for AUV actuators.
  • This strategy enhances AUV reliability by compensating for actuator faults and control constraints.
  • The validated methods ensure the normal operation and fault-tolerant effect of AUVs in complex underwater scenarios.

Keywords:

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