Tracking fault-tolerant control based on model predictive control for human occupied vehicle in three-dimensional underwater workspace

In this paper, for the human occupied vehicle (HOV) system, a cascaded dynamic tracking controller for thruster fault is proposed in three-dimensional underwater workspace. Firstly, the control strategies are used to reallocate the thruster forces based on quantum-behaved particle swarm optimization (QPSO) for thruster failure. Secondly, the kinematics controller based on QPSO-model predictive control (MPC) is designed to obtain the speed control signal. QPSO-MPC with speed constrained optimization is proposed to solve speed jump problem caused by thruster failure. Finally, the kinematics controller is used in conjunction with dynamics controller based on the adaptive control to achieve dynamic tracking control which can solve the driving saturation problem caused by thruster failure and tracking disturbance problem by unknown ocean current disturbance. Simulation results showed the proposed dynamic tracking control with fault-tolerant control could realize stable trajectory tracking for thruster failure without the driving saturation in three-dimensional ocean current environment.

Automated summary

In this paper, a cascaded dynamic tracking controller is proposed for the human occupied vehicle (HOV) system to solve the driving saturation and tracking disturbance problems caused by thruster failure, and the effectiveness of this control method is verified through simulation results.