Daqi Zhu, Jing Liu, and Simon X. Yang
Thruster, fault-tolerant control, particle swarm optimization, un-manned underwater vehicles
A control reconfiguration approach based on particle swarm optimization (PSO) for unmanned underwater vehicles (UUV) thruster fault-tolerant control is presented in this paper. The underwater vehicle named URIS has four horizontal thrusters. When faults in a thruster occur, the corresponding weight matrix is updated to compensate for the restricted usage of the faulty thruster. To complete an appropriate control law reconfiguration, a control energy cost function is used as the optimization criterion. The PSO algorithm is used to find the solution to the control reallocation problem. Compared to the weighted pseudo-inverse method, the PSO algorithm does not need truncation or scaling to ensure the feasibility of the solution because its particles search for the solution in the feasible space. Both the magnitude error and direction error of the obtained control input vector using the PSO algorithm are equal to zero in keeping with its original state.
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