A strategy for thruster fault-tolerant control applied to an AUV

Abstract

In this article we discuss the dynamic modelling of the propulsion system of an autonomous underwater vehicle (AUV), and also a method of fault tolerant control in an AUV that has four vertical and two horizontal thrusters. Firstly we made an analysis of the dynamic and kinematic effects of the vehicle, subsequently we did an analysis of dynamic propulsion system and then found out the state of the art of the underwater vehicle. Through a series of simulations, it was validated our propulsion model system and its efficiency of the fault tolerant control working in conjunction with the purpose of the vehicle to follow a desired path even when some thrusters is faulty.