Direct Self-repairing Control of Rudder Fault for AUV

To improve the reliability of autonomous underwater vehicle (AUV) control system, a direct self-repairing control scheme based on the model following method is proposed. The AUV can be made to regain its balance working state rapidly by finding a direct self-repairing control law, which will play its role just at the moment of fault and is independent on the certain information of fault. This scheme can achieve complete self-repairing multiple faults upon rudder without fault recognition, make no loss to the performance of AUV when it has no fault, and gain the good ability to avoid the deviation due to disturbance. All of these characteristics of the scheme and conclusions are strictly proved mathematically and supported by simulation results.