Implementation of Autonomous Reconfigured Control for AUV Based on Fault Detection and Isolation

Autonomous underwater vehicles(AUVs) can be used for demonstrations of new technologies and capabilities like terrain referenced navigation, realistic testing, the control and guidance system, and so on. It is important that the control system work well under the sea environment at any time. This paper proposes a new autonomous reconfigured control system. It combines the advantages of the passive and the active fault detection and isolation technologies. The system responses instantly to the failures to guarantee the stability in emergency and eventually obtains the best performance for the faulty system. A robust reliable control example is given to show its function in emergency.