This paper proposes an intelligent fault-tolerant control (FTC) strategy to tackle the trajectory tracking problem of an underwater vehicle (UV) under thruster damage (power loss) cases and meanwhile resolve the actuator saturation brought by the vehicle's physical constraints. In the proposed control strategy, the trajectory tracking component is formed by a refined backstepping algorithm that controls the velocity variation and a sliding mode control deducts the torque/force outputs; the fault-tolerant component is established based on a Grasshopper Optimization Algorithm (GOA), which provides fast convergence speed as well as satisfactory accuracy of deducting optimized reallocation of the thruster forces to compensate for the power loss in different fault cases. Simulations with or without environmental perturbations under different fault cases and comparisons to other traditional FTCs are presented, thus verifying the effectiveness and robustness of the proposed GOA-based fault-tolerant trajectory tracking design.

提出了一种基于智能容错控制策略的水下载具轨迹跟踪问题的解决方案，该策略采用改进的反步法和滑模控制来解决物理约束条件下的舵机饱和问题，并基于 Grasshopper 优化算法来解决推进器故障的力量缺失问题，仿真结果表明该方案具有很好的鲁棒性和有效性。

基于GOA的无饱和执行器多推力器水下机故障容错轨迹跟踪控制