Simultaneous fault detection and control design for an autonomous unmanned underwater vehicle

In this paper, the problem of simultaneous fault detection and control (SFDC) for an autonomous unmanned underwater vehicle (AUV) is considered. An H_∞ formulation of the SFDC problem using a dynamic observer is developed. A single module designated as the detector/controller is designed where the detector is a dynamic observer and the controller is a state feedback controller based on the dynamic observer. The detector/controller module produces two signals, namely the detection and the control signals. Sufficient conditions for solvability of the problem are obtained in terms of linear matrix inequality (LMI) feasibility conditions. Simulation results for a Subzero III AUV illustrate the effectiveness of our proposed design methodology.