Research on X-rudder UUV Fault-Tolerant Control Technology.

In order to improve the reliability of the X rudder UUV during operation, this paper conducts research on UUV fault-tolerant control technology, designs a fault-tolerant control system based on redundancy management, and realizes UUV fault-tolerant manipulation control based on double redundancy design. On this basis, in order to solve the problem that the system cannot track the target or instability of the high-level controller in the case of X rudder UUV failure, the sliding mode fault-tolerant controller is designed based on adaptive theory, and the stability of the algorithm is proved based on Lyapunov theory, and finally the effectiveness of the proposed method is verified by simulation experiments.