Fault tolerant control of autonomous underwater vehicle based on adaptive dynamic programming

Xing Wang

doi:10.1016/j.oceaneng.2026.125237

Fault tolerant control of autonomous underwater vehicle based on adaptive dynamic programming

2026-04-06

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AI

X

Xing Wang

S

Shunxing Wei *

M

Mengxiong Liu

C

Chi Hu

DOI：10.1016/j.oceaneng.2026.125237

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Abstract

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• A novel fault-tolerant controller based on adaptive dynamic programming (ADP-FTC) is designed, which includes control input term to be optimized. • The designed APD-FTC can achieve performance optimization of fault-tolerant control systems. • An approximate optimal sliding mode is designed, which can ensure that the tracking errors of the AUV always remains on the sliding mode. • An adaptive evaluation neural network is designed that can be used to solve approximate HJB equations without being limited by initial conditions.

Keywords:

Adaptive Dynamic Programming

Fault-Tolerant Control

Autonomous Underwater Vehicle

Sliding Mode Control

Neural Network

Fault tolerant control of autonomous underwater vehicle based on adaptive dynamic programming

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