Now the main fault tolerant control is divided into two categories, one is active FTC, the other is passive FTC. Then the research on fault tolerant control (FTC) of AUV is particularly important. Therefore, to give the AUV the desired control effect, they must be handled carefully. The thruster is one of the most important components to make the AUV move, however due to the complexity of the marine environment, the thruster is also the most prone to failure. It can be shown that the designed APISM-FTC method can make the system reach a stable state quickly, and can still have a good control performance in the case of the failure of the thruster. The simulation experiments on two fault conditions are carried out, respectively, and the control effects under normal conditions are compared. To guarantee that all tracking errors asymptotically converge to zero, a comprehensive theoretical analysis and mathematical proof based on Lyapunov stability analysis are implemented. Radial basis function neural network (RBFNN) and an adaptive approach are used to evaluate the dynamics uncertainty during the construction of the APISM-FTC controller. For this, an adaptive proportional-integral sliding mode-based fault tolerant control (APISM-FTC) is proposed to drive the AUV to follow the desired trajectory, in the event of unknown thrusters failure and thrusters saturation. This paper focuses on the fault tolerant control of autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and potential thruster failure issues.
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