Multivariable Robust Fault Tolerant Control For Work-Class Remotely Operated Vehicle

Abstract

To deal with complex disturbances and the presence of partial loss of propeller effectiveness in work-class remotely operated vehicles (ROVs), a method of robust fault tolerant control is proposed, which is based on adaptive sliding mode control. In this approach, adaptive technique is employed to estimate the bounds’ information of external complex disturbances and the effectiveness loss of the propeller. And a sliding mode controller is then designed to achieve fault tolerant control and external disturbance rejection. Corresponding stability of the closed-loop control system is analyzed using Lyapunov stability theory. Apply this method to trajectory tracking control of work-class ROVs, the simulation results validate that great fault tolerant capability and a good performance of external disturbance rejection can be achieved even under partial loss of propeller effectiveness.