Thruster failure detection of UUV based on self-adaptive fusion

An algorithm of thruster failure detection of UUV based on self-adaptive fuzzy fusion is proposed in this paper. The algorithm fuses the forecasting current into the theory current to obtain the fusion current. The forecasting current is obtained according to historical current using the gray forecasting. The theory current is obtained according to experiment data using the fitting method between controlling voltage and armature current. The fuzzy theory is used to realize a self-adaptive fusion between theory current and forecasting current. Based on the fusion current, thruster failures of UUV can be detected and classified in real time. Lake experiments show the validity of the method presented.