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Redundancy Management for Fault-tolerant Control System of an Unmanned Underwater Vehicle

In the field of UUV control system design, fault-tolerant control and redundancy management is the important method to improve system reliability. This paper addresses a fault-tolerant steering control system to improve the reliability of UUV. A novel fault-tolerant control system, which uses the hybrid redundant structural configuration based on the characteristics of the X rudder UUV, is designed. The configuration is based on duplex redundant control calculation coupled with a quadruplex redundant actuator. Redundancy management strategies and algorithms are used to implement the UUV fault-tolerant control. The analysis indicates that the reliability of the control system which used the proposed configuration is improved obviously compared with the conventional configuration.