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In this paper, for the remotely operated vehicle (ROV) system, a cascaded dynamics trajectory tracking controller for thruster fault is proposed. Firstly, the control strategies are used to reallocate the thruster forces based on quantum-behaved particle swarm optimization (QPSO). Secondly, the kinematic controller based on QPSO-model predictive control (MPC) is designed to obtain the speed control signal. QPSO-MPC with speed constrained optimization is proposed to solve speed jump problem caused by thruster failure. Finally, the kinematic controller method is used in conjunction with dynamic controller based on the sliding mode control (SMC) to achieve dynamic tracking control, and to solve the driving saturation problem caused by thruster failure. Experimental results showed the proposed dynamics trajectory tracking controller could realize trajectory tracking problem under thruster failure without the driving saturation. [ABSTRACT FROM AUTHOR]

To ensure that the unmanned underwater vehicles (UUVs) can still successfully complete the corresponding tasks in the case of thrusters having faults, a novel fault-tolerant control strategy which combines the model predictive control (MPC) algorithm and the fault-tolerant reconstruction algorithm is presented in this paper. Firstly, a cascade control method based on model predictive control algorithm is introduced, and then the problem when the thrusters in the faulty condition are discussed. For different degrees of thruster fault, the method of weighted pseudo inverse and quantum particle swarm optimization (QPSO) is used for hybrid fault-tolerant control (FTC). At the same time, to overcome the limitations brought by the pseudo inverse reconstruction algorithm, an optimization criterion with the infinite norm as the cost function is introduced into the QPSO algorithm to accelerate the search for the optimal solution in the feasibility space so as to ensure the feasibility of the solution. The simulation results show that the fault-tolerant control method proposed based on MPC (FTC-MPC) in this paper can provide ideal control effects for the unmanned underwater vehicles. [ABSTRACT FROM AUTHOR]

A novel hybrid control approach is presented for trajectory tracking control of unmanned underwater vehicles in this paper. The kinematic and dynamic controllers are integrated by the proposed control strategy. The paper has two objectives. Firstly, an improved backstep method is proposed to generate the virtual velocity using a bio-inspired neurodynamics model in the kinematic controller. The bio-inspired neurodynamics model is intended to smooth the virtual velocity output to avoid speed jumps of the unmanned underwater vehicle caused by tracking errors and to meet the thruster control constraints. Secondly, a new sliding-mode method is added to the dynamic controller, which is robust against parameter inaccuracy and disturbances. The combined kinematic-dynamic control law is applied to the trajectory tracking problem of two different types of unmanned underwater vehicle. Finally, simulation results illustrate the performance of the proposed controller. [ABSTRACT FROM AUTHOR]