The development of AUV control system with accommodation to thruster faults

Abstract A new method for the synthesis of AUV control system for high-precision and highly reliable spatial motion is proposed. The feature of these control systems is that they include an additional accommodation circuit that provides timely detection, determination of the magnitude and compensation for the consequences of the appearance of minor faults that occur in the AUV thrusters. The simulation results confirmed the efficiency and high quality of the synthesized systems. Key words Dynamics modeling of system of solids, unmanned underwater vehicle, UUV, AUUV, mobile robot, hyper-redundant robot, computer design of machines and mechanisms, SolidWorks Motion, MCS.ADAMS. Acknowledgements This work was supported by the Russian Foundation for Basic Research (projects 20-38-70161 and 19-08-00347).