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

  • Ruikun Xu
  • Guoyuan TangEmail author
  • Daomin Huang
  • De Xie
  • Lijun Han
Original article


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.


Underwater vehicle control Control moment gyros Attitude control Fault-tolerant control Adaptive control 



This work is supported by the HUST Interdisciplinary Innovation Team Project, the Fundamental Research Funds for the Central Universities (nos. 2018KFYYXJJ012, 2018JYCXJJ045), the National Natural Science Foundation of China (no. 51979116) and the Innovation Foundation of Maritime Defense Technologies Innovation Center.


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Copyright information

© The Japan Society of Naval Architects and Ocean Engineers (JASNAOE) 2019

Authors and Affiliations

  1. 1.School of Naval Architecture and Ocean EngineeringHuazhong University of Science and TechnologyWuhanChina
  2. 2.Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration (CISSE)ShanghaiChina
  3. 3.Air Force Early Warning AcademyWuhanChina

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