Adaptive fault-tolerant attitude control for a CMG-based underwater vehicle

This paper proposes a fault-tolerant control strategy for the attitude control problem of a CMG-based underwater vehicle based on the adaptive sliding mode control method and Lyapunov stability theory. First, a fault-tolerant control model is presented for the quaternion-based attitude kinematic equations combined with a pyramid control moment gyroscope (CMG) system. Second, considering the momentum singularity and input saturation constraint problem, adaptive control method is inspired to estimate the model uncertainties and actuator failures under some basic assumptions. Subsequently, the proposed controller is derived from backstepping-based design techniques and its feasibility is complemented by the remarks. Finally, its efficiency and robustness are illustrated in simulation results to against the uncertainties and disturbances.