3 accepted papers
This letter presents a saturation-triggered adaptive fault-tolerant control framework for underwater vehicles to handle concurrent thruster failures and environmental disturbances. Unlike existing methods that suffer from performance degradation when disturbances exceed predefined bounds, this paper
Underwater vehicles face control challenges including hydrodynamic parameter uncertainties and environmental disturbances. While Koopman-based model predictive control (Koopman-MPC) offers computational efficiency through linear lifted representations, existing methods rely on offline-collected data
This paper investigates the control problem of underwater vehicles subject to time-varying external disturbances and actuator faults. A novel passive fault-tolerant control (PFTC) scheme is developed to address the coupled disturbance-fault dynamics inherent in underwater vehicle systems. The propos