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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 527315, 12 pages
Research Article

Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

1Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia, Jalan Semarak, 54100 Kuala Lumpur, Malaysia
2School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK

Received 20 January 2014; Revised 2 May 2014; Accepted 20 May 2014; Published 11 June 2014

Academic Editor: Mingcong Deng

Copyright © 2014 Zool H. Ismail et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.