Fault Localization and Fault-Tolerant Control for rudders of AUVs

This paper addresses the problem of Fault Localization (FL) and Fault-Tolerant Control (FTC) for rudders of the torpedo-like Autonomous Underwater Vehicle (AUV). The qualitative force analysis is adopted to derive the positive/negative nature of each fault factor while the rudder deformation fault occurs. A positive/negative nature table is generated to localize the deformation fault together with the estimated fault factors generated by the fault detection. By combining the control input formula and the estimated fault factors, the modified control inputs are produced to tolerate the rudder deformation fault. A simulation with applying the methods to an AUV depth control is presented to illustrate the effectiveness of the proposed scheme.