A Fast Fault‐Tolerant Control Strategy for Multithruster Underwater Vehicles Based on L‐BFGS Optimization

The online reconstruction of the thruster control matrix for fault‐tolerant control (FTC) is recognized as highly challenging due to thrust saturation and strict real‐time performance requirements. To address this, a fast FTC strategy for multithruster underwater vehicles based on limited‐memory Broyden–Fletcher–Goldfarb–Shanno (L‐BFGS) optimization is employed to achieve efficient thrust reallocation under fault conditions. Rapid convergence is ensured in the optimization process. Additionally, a mapping function using tanh is implemented to constrain the thrust within physical limits, ensuring feasible and physically realizable control outputs. The “JiaoLong” human‐operated vehicle (HOV) is chosen as the study subject, its propulsion system is analyzed, and the FTC problem is formulated. Through simulations, the mitigation of errors caused by thrust saturation is demonstrated, and reliable real‐time performance is achieved.