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The thrusters provide propulsion support for the underwater motion of the ROV. In order to enhance the reliability and safety of the ROV, this paper focuses on a redundant thruster ROV model and proposes a passive fault-tolerant controller based on HJI (Hamilton-Jacobi Inequality) and integral sliding mode. Through Lyapunov stability analysis and numerical simulation, it is demonstrated that the designed passive fault-tolerant controller can maintain the motion state of the ROV in the event of thruster failure without fault information.

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Fault-Tolerant Control of ROV Based on HJI Integral Sliding Mode

  • 会议论文

  • 发表日期：

    2025年

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  • Menglian Liu,
  • Shuangjiang Yu,
  • Hongli Xu

摘要

The thrusters provide propulsion support for the underwater motion of the ROV. In order to enhance the reliability and safety of the ROV, this paper focuses on a redundant thruster ROV model and proposes a passive fault-tolerant controller based on HJI (Hamilton-Jacobi Inequality) and integral sliding mode. Through Lyapunov stability analysis and numerical simulation, it is demonstrated that the designed passive fault-tolerant controller can maintain the motion state of the ROV in the event of thruster failure without fault information.