Integrated control, guidance and diagnosis for reconfigurable autonomous underwater vehicle control

This paper is concerned with the development of an integrated control desig n approach for regulation, trajectory tracking, diagnosis and control recon figuration of autonomous underwater vehicles (AUVs). A three-layer controll er architecture is proposed to enhance the autonomy of the vehicle. At the bottom layer, the local feedback controllers are designed using H-infinity/ H-2 control design technique to drive the actuators directly. A four-degree -of-freedom controller is used to incorporate the sensor avid actuator faul ts and to account for the interaction between the regulation and the diagno stic module. A predictive control design technique is employed at the middl e layer (guidance) to manoeuvre optimally the AUV along a desired trajector y. A robust filtering scheme is proposed at the top level to provide the ne cessary information to the guidance system and to reconfigure the system un der fault conditions. The condition for global stability is derived and sim ulation results are presented to demonstrate the performance of the propose d technique.