This research proposes a unified control framework integrating feedback linearization and adaptive fault-tolerant control allocation for AUVs to maintain controllability under thruster failures. The method includes a dynamic feedback linearization module, a real-time fault detection system, and a control reallocation strategy. The experimental validation plan involves simulations, pool trials, and open-water testing.
Key findings
Unified control framework developed for AUVs to handle thruster failures.
Novel control architecture combines feedback linearization with fault-tolerant control allocation.
Bayesian soft-switching approach ensures smooth transitions between fault scenarios.
Comprehensive experimental validation plan including hardware-in-the-loop simulations and open-water testing.
Limitations & open questions
Research focuses on specific types of thruster failures and may not cover all possible failure modes.
The proposed method's scalability to larger AUVs or different vehicle configurations is not discussed.