Research on static fault-tolerant control method of thruster based on MPC
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ORIGINAL ARTICLE
Research on static fault‑tolerant control method of thruster based on MPC Xuelian Ding1 · Daqi Zhu1 · Mingzhong Yan1 Received: 27 March 2020 / Accepted: 7 October 2020 © The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2020
Abstract 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. Keywords Model predictive control algorithm · Fault-tolerant reconstruction · Weighted pseudo inverse · Quantum particle swarm optimization algorithm · Unmanned underwater vehicles
1 Introduction With the progress of science and technology, unmanned underwater vehicles now play an increasingly important role in the human exploration of the marine world. However, due to the complexity and unpredictability of the deep ocean environment, once the unmanned underwater vehicle breaks down, it is not only unable to complete the task, but also unable to recover itself. As an important part of the unmanned underwater vehicle, the thrusters that directly work in the ocean are prone to failure. Its performance will directly affect the overall performance of the UUV, so the research of its reliability is very important [1]. With the emergence of fault diagnosis and fault-tolerant control [2], the reliability of the unmanned underwater vehicle has been improved, so that it can still run stably and complete the * Daqi Zhu [email protected] 1
Shanghai Engineering Research Center of Intelligent Maritime Search and Rescue and Underwater Vehicles, Shanghai Maritime University, Haigang Avenue 1550, Shanghai 201306, China
desired tasks in case of fault. The fault-tolerant control of UUV thruster is mainly aimed at reconstructing the control matrix of thruster system while the UUV in faulty condition, so as to ensure that the UUV maintains a normal working state [3]. At present, for an unmanned underwater vehicle, there are some research results in fault-tolerant control. Among them, there a
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