An effective fault-tolerant control with slime mold algorithm for unmanned underwater vehicle
Year: 2025
Type: article
Abstract: The proposed fault-tolerant control strategy based on the slime mold algorithm (FTC-SMA) enhances the resilience of multi-thruster unmanned underwater vehicles against thrust loss. In the event of a propulsion system failure, the strategy enables rapid thrust redistribution to restore the original torque and sailing direction, even in the event of a catastrophic thruster failure. This strategy follows the physical limits of the thruster and can effectively solve the over-actuated problem. The effectiveness, efficiency, and stability of FTC-SMA are confirmed through simulation experiments under various fault conditions, demonstrating significant improvements over other algorithms such as particle swarm optimization and grasshopper optimization algorithm.
Source: Intelligence & Robotics
DOI: 10.20517/ir.2025.14
Authors: Tianhong Zeng, Daqi Zhu, Chunhua Gu, Simon X. Yang
Institution: University of Shanghai for Science and Technology
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W4408913612