Thruster Fault Diagnostics and Fault Tolerant Control for Autonomous Underwater Vehicle with Ocean Currents

Autonomous underwater vehicle (AUV) is one of the most important exploration tools in ocean environment, whose movement realized by thrusters, however, thruster fault happens frequently engineering practice. Ocean currents perturbations could produce noise for diagnosis, order to solve diagnostics, a possibilistic fuzzy C-means (PFCM) algorithm proposed realize classification this paper. On basis results control strategy tolerant AUV. Considering uncertainty currents, it proposes min-max robust optimization problem optimize controller, which solved cooperative particle swarm (CPSO) algorithm. Simulation and experiments are used verify accuracy feasibility method diagnostics control.