An active output feedback fault-tolerant control design for submarine control systems

In this paper, an active output feedback fault-tolerant control design for submarine vertical movements is proposed. An unknown input disturbance observer is given first, and then an observer is designed to diagnose all of actuator faults by decoupling external disturbance from actuator faults. Then a fault parameter tracking law is designed to estimate the fault parameters of bow and stern planes. Finally, an adaptive H ∞ dynamic output feedback fault-tolerant control scheme is designed by using the estimated fault parameters of the bow and stern planes. Simulation results show that the proposed control scheme is effective in the both pitch and depth control when the bow and stern planes suffer from unknown faults.