Fault-tolerant control for manned submersible vehicles based on disturbance characteristic index and thrust allocation
FANG Xing
RUAN Zhong-yi
ZHANG Qi-jie
LIU Fei
GAO Xiang
Abstract：The manned submersible vehicle operates in the complex and harsh environment of the deep sea.It is affected by unknown external disturbances and thruster failures during operation.In this paper,a new active fault-tolerant control method is proposed by combining the disturbance characteristic index with the active fault-tolerant control method based on control allocation.Firstly,the model of the manned submersible vehicle is established.Secondly,a nonlinear disturbance observer is proposed to estimate the lumped disturbances of the system,and a controller without thruster fault is designed.Then,for the problem of thruster fault,a weight matrix is introduced for control allocation to protect the fault thrusters.And a disturbance characteristic index is designed to represent the effect of the disturbance on tracking error and thrust loss.On this basis,a new fault-tolerant control method based on the disturbance characteristic index and control allocation is proposed.The stability analysis of the closed-loop system is carried out strictly according to Lyapunov theory.Finally,the superiority of the proposed control method is verified by the numerical simulations.The advantages of the proposed control scheme are as follows:it can make use of the exploitable disturbances and compensate for the detrimental disturbances,and the energy of exploitable disturbance is used to make up for the thrust loss of the faulty thrusters.
Keywords：manned submersible vehiclenonlinear disturbance observerdisturbance characteristic indexcontrol allocationfault-tolerant control
Publication Date：2024-07-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1264-1273 )