An effective fault-tolerant control with slime mold algorithm for unmanned underwater vehicle

Abstract

The proposed fault-tolerant control strategy based on the slime mold algorithm (FTC-SMA) enhances the resilience of multi-thruster unmanned underwater vehicles against thrust loss. In the event of a propulsion system failure, the strategy enables rapid thrust redistribution to restore the original torque and sailing direction, even in the event of a catastrophic thruster failure. This strategy follows the physical limits of the thruster and can effectively solve the over-actuated problem. The effectiveness, efficiency, and stability of FTC-SMA are confirmed through simulation experiments under various fault conditions, demonstrating significant improvements over other algorithms such as particle swarm optimization and grasshopper optimization algorithm.

Keywords

Multi-thruster / fault-tolerant control / slime mold algorithm (SMA) / unmanned underwater vehicle (UUV)