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 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-tolerant motion control algorithm proposed in this paper are smooth,and the X-rudder AUV still maintains a certain navigation control capability after the rudder failure.This has a certain guiding significance for the design of a fault-tolerant steering system applied to X-rudder AUVs.
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