Online Adaptive Fault Compensation Control for Underwater Vehicles with Parameter Perturbation and Intermittent Faults

This paper presents an online adaptive fault-tolerant control technique to compensate the intermittent faults in underwater vehicles. Starting from the system dynamics, the performance index function is defined under the zero-sum game framework for the fault-free suboptimal control policy. Based on Lyapunov stability criterion, the designed fault compensation strategy is confirmed to ensure the uniformly ultimately bounded stability for underwater vehicles. Experiment results are ulteriorly given to illustrate the feasibility and effectiveness of the proposed approach.