Fault-tolerant Consensus of Leaderless Multi-AUV System with Partial Actuator Breakdown

In this paper, a fault-tolerant consensus problem of the leaderless second-order multiple autonomous underwater vehicle systems with partial actuator breakdown is considered. The dynamic model of AUV is linearized by the feedback linear method. The communication graph is any strongly connection directed graph, and the effectiveness of the actuator can be obtained by a physical device or analysis algorithm. The fault-tolerant consensus protocol is proposed. The stability of the fault-tolerant multi-AUV system is derived by Lyapunov functional. A numerical example illustrates the effectiveness of the fault-tolerant consensus protocol method.