Project of Fault Tolerant Control using a Takagi-Sugeno Fuzzy logic applied in autonomous underwater vehicles

Carvalho AC, Santos CHF e Rocha GES


The main problem suffered by Autonomous Underwater Vehicles (AUV) used for research and inspection of marine environments is the fault of thrusters during the trajectory, which can compromise the mission. So, in this paper was proposed a Fault Tolerant Control (FTC) using the Levi-Civita connection and a Takagi-Sugeno Fuzzy logic. First, was described the six degreeof- freedom (DOF) nonlinear equations of dynamics and kinematics of the AUV which has four horizontal thrusters and two vertical thrusters, and then we propose a Fault Tolerant Control of the AUV using a Takagi-Sugeno Fuzzy Logic. Using the Fuzzy logic, it was possible to distribute the forces and moments of the faulty thruster in the healthy ones using the same plane of action. The control performance was validated via numerical simulations of the AUV occurring fault of two horizontal thrusters in specific time during the simulation. Even with disturbance caused by variable current and fault of two AUV's thrusters, with this method it was capable of keeping good track of the AUV, enhancing the robustness, assuring asymptotic stability, and the success of the mission.

Palavras-chaves: AUV, Fuzzy Logic, Fault Tolerant Control.