A rapid reconfiguration strategy for UUV control

A rapid reconfiguration strategy for underwater unmanned vehicle (UUV) control to accommodate the actuator faults is proposed. Detailed knowledge of the fault is not required when using the strategy and the controller is adjusted as long as the faults are located into a suitable element set. Thus, deviation from normal operation is prevented soon after the diagnosis process begins, and the performance of the UUV is recovered in stages with the diagnosis process advancing. The strategy is transformed into a robust model-following problem, and the mixed H/sub 2//H/sub /spl infin// method is adopted. Both the design and simulation results show the effectiveness of the strategy proposed.