Dual-Mode Passive Fault-Tolerant Control for Underwater Vehicles with Actuator Faults and Time-Varying Disturbances
Yizong Chen, Jun Wei, Zhiqiang Miao, Kangcheng Liu, Yaonan Wang
Abstract
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 proposed dual-mode architecture comprises: 1) a robust fault-tolerant control scheme based on high-order sliding mode observers (HOSMOs) for minor fault scenarios, which effectively compensates for bounded disturbances and partial actuator degradation; 2) a conditionally triggered estimation mechanism integrated with fault-tolerant control allocation (FTCA) and HOSMOs for severe fault conditions, enabling fault estimation and model compensation via event-triggered parameter updating. The hybrid architecture ensures computational efficiency by activating the estimation module only when predefined triggering conditions are violated. Comprehensive experimental results validate the superiority of the proposed method in maintaining stability and performance under various fault conditions. This work provides a systematic solution for underwater vehicle control under coupled disturbance-fault conditions, with verified real-time performance and implementation feasibility.
BibTeX
@inproceedings{iros2025_dualmodepassivef,
title = {Dual-Mode Passive Fault-Tolerant Control for Underwater Vehicles with Actuator Faults and Time-Varying Disturbances},
author = {Yizong Chen and Jun Wei and Zhiqiang Miao and Kangcheng Liu and Yaonan Wang},
booktitle = {IROS 2025},
year = {2025}
}