Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances
This paper presents a fault-tolerant model predictive control approach for cross-rudder autonomous underwater vehicles to achieve heading control, considering rudder stuck faults and unknown disturbances. Specifically, additive faults in the rudders are addressed, and an active fault-tolerant contro...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/171 |
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| author | Yimin Chen Shaowen Hao Jian Gao Jiarun Wang Le Li |
| author_facet | Yimin Chen Shaowen Hao Jian Gao Jiarun Wang Le Li |
| author_sort | Yimin Chen |
| collection | DOAJ |
| description | This paper presents a fault-tolerant model predictive control approach for cross-rudder autonomous underwater vehicles to achieve heading control, considering rudder stuck faults and unknown disturbances. Specifically, additive faults in the rudders are addressed, and an active fault-tolerant control strategy is employed. Fault models of autonomous underwater vehicles have been established to develop the fault-tolerant control method. In the controller design, the stuck faults of complete rudder failure are incorporated to ensure the heading angle control of the autonomous underwater vehicle in faulty conditions. Furthermore, the fault term is decoupled from the control input, and the decoupled control input, along with corresponding constraints, is incorporated into the model’s predictive controller design. This approach facilitates controller reconfiguration, thereby enhancing and optimizing control performance. Simulation results demonstrate that the proposed fault-tolerant model predictive control method can effectively achieve stable navigation and heading adjustment under rudder fault conditions in autonomous underwater vehicles. |
| format | Article |
| id | doaj-art-f8505ebd78a64635af28945be1c2f467 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-f8505ebd78a64635af28945be1c2f4672025-01-24T13:37:07ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-01-0113117110.3390/jmse13010171Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown DisturbancesYimin Chen0Shaowen Hao1Jian Gao2Jiarun Wang3Le Li4School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaThis paper presents a fault-tolerant model predictive control approach for cross-rudder autonomous underwater vehicles to achieve heading control, considering rudder stuck faults and unknown disturbances. Specifically, additive faults in the rudders are addressed, and an active fault-tolerant control strategy is employed. Fault models of autonomous underwater vehicles have been established to develop the fault-tolerant control method. In the controller design, the stuck faults of complete rudder failure are incorporated to ensure the heading angle control of the autonomous underwater vehicle in faulty conditions. Furthermore, the fault term is decoupled from the control input, and the decoupled control input, along with corresponding constraints, is incorporated into the model’s predictive controller design. This approach facilitates controller reconfiguration, thereby enhancing and optimizing control performance. Simulation results demonstrate that the proposed fault-tolerant model predictive control method can effectively achieve stable navigation and heading adjustment under rudder fault conditions in autonomous underwater vehicles.https://www.mdpi.com/2077-1312/13/1/171model predictive controlautonomous underwater vehiclesfault-tolerant control |
| spellingShingle | Yimin Chen Shaowen Hao Jian Gao Jiarun Wang Le Li Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances Journal of Marine Science and Engineering model predictive control autonomous underwater vehicles fault-tolerant control |
| title | Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances |
| title_full | Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances |
| title_fullStr | Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances |
| title_full_unstemmed | Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances |
| title_short | Fault-Tolerant Model Predictive Control for Autonomous Underwater Vehicles Considering Unknown Disturbances |
| title_sort | fault tolerant model predictive control for autonomous underwater vehicles considering unknown disturbances |
| topic | model predictive control autonomous underwater vehicles fault-tolerant control |
| url | https://www.mdpi.com/2077-1312/13/1/171 |
| work_keys_str_mv | AT yiminchen faulttolerantmodelpredictivecontrolforautonomousunderwatervehiclesconsideringunknowndisturbances AT shaowenhao faulttolerantmodelpredictivecontrolforautonomousunderwatervehiclesconsideringunknowndisturbances AT jiangao faulttolerantmodelpredictivecontrolforautonomousunderwatervehiclesconsideringunknowndisturbances AT jiarunwang faulttolerantmodelpredictivecontrolforautonomousunderwatervehiclesconsideringunknowndisturbances AT leli faulttolerantmodelpredictivecontrolforautonomousunderwatervehiclesconsideringunknowndisturbances |