Randomized trial explores control mechanisms for actuator faults in AUVs, indicating improved safety and performance.
Key Points
This study aims to enhance the safety and performance of autonomous underwater vehicles (AUVs) through fault diagnosis and reconfigurable control strategies.
Developed a fault diagnosis method to accurately identify actuator faults amidst disturbances.
Implemented a reconfigurable control strategy that improves the switching process performance.
Employed sliding mode fault-tolerant control with predefined-time stability to address disturbances and errors.
The proposed control strategy ensured convergence to desired states within predefined timeframes, demonstrating effectiveness.
Simulation results showed improved performance under various conditions, validating the fault diagnosis and control mechanism.