Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures

CHEN Ying

doi:10.11993/j.issn.2096-3920.2023-0133

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CHEN Ying. Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0133

Citation:

CHEN Ying. Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0133

CHEN Ying. Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0133

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Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures

doi: 10.11993/j.issn.2096-3920.2023-0133

CHEN Ying

School of Electronics Engineering, Wuhan Business University, Wuhan 430056, China

Received Date: 2023-10-17
Accepted Date: 2023-12-08
Rev Recd Date: 2023-11-22

Available Online: 2024-03-12

Abstract

Abstract

X rudder has been increasingly applied to autonomous underwater vehicles in recent years due to its better maneuverability and safety. To fully utilize the fault-tolerant capability of the X rudder, this paper proposes a fault-tolerant motion control algorithm for underwater vehicles oriented towards rudder failures and deploys it on a prototype of an X rudder underwater vehicle. The fault-tolerant motion control algorithm consists of two parts: dynamics control and control allocation. In the dynamics control, the introduction of a multi-loop incremental feedback control algorithm in the output virtual rudder instruction can make it smooth and gentle. The control allocation algorithm converts the virtual rudder command 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 considering the constraints of rudder failure, rudder angle saturation, and other physical limitations. This also enables the X rudder underwater vehicle 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 underwater vehicle still maintains a certain control capability after the rudder failure. This has certain guiding significance for the design of a fault-tolerant steering system applied to X rudder underwater vehicles.
- x-rudder,
- AUV,
- control allocation,
- fault-tolerant control,
- nonlinear programming

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References(21)

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