Thruster Fault Tolerant Control Scheme for 4500-m Human Occupied Vehicle

In this paper, a thruster fault tolerant control combines with trajectory tracking control method is applied for 4500-m Human Occupied Vehicle. First, the tracking control method and thruster configuration of a human occupied vehicle with 4500m operation depth is simply introduced. Then control allocation problem of underwater vehicle is described, thruster forces reconstructed during control allocation. Finally, introduce a hybrid fault tolerant control method, this hybrid method is designed based on weighted pseudo-inverse matrixes and quantum particle swarm optimization (QPSO), compared with the classical weighted pseudo-inverse fault tolerant control, and simulations results illustrate the performance of the thruster fault tolerant control strategy.