{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T17:59:55Z","timestamp":1772733595599,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T00:00:00Z","timestamp":1715299200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["62173164"],"award-info":[{"award-number":["62173164"]}]},{"name":"National Natural Science Foundation of China","award":["62203192"],"award-info":[{"award-number":["62203192"]}]},{"name":"6th regular meeting exchange program (6-3) of the China-North Macedonian science &amp; technology cooperation committee","award":["62173164"],"award-info":[{"award-number":["62173164"]}]},{"name":"6th regular meeting exchange program (6-3) of the China-North Macedonian science &amp; technology cooperation committee","award":["62203192"],"award-info":[{"award-number":["62203192"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Autonomous Underwater Vehicles (AUVs) play a significant role in ocean-related research fields as tools for human exploration and the development of marine resources. However, the uncertainty of the underwater environment and the complexity of underwater motion pose significant challenges to the fault-tolerant control of AUV actuators. This paper presents a fault-tolerant control strategy for AUV actuators based onTakagi and Sugeno (T-S) fuzzy logic and pseudo-inverse quadratic programming under control constraints, aimed at addressing potential actuator faults. Firstly, considering the steady-state performance and dynamic performance of the control system, a T-S fuzzy controller is designed. Next, based on the redundant configuration of the actuators, the propulsion system is normalized, and the fault-tolerant control of AUV actuators is achieved using the pseudo-inverse method under thrust allocation. When control is constrained, a quadratic programming approach is used to compensate for the input control quantity. Finally, the effectiveness of the fuzzy control and fault-tolerant control allocation methods studied in this paper is validated through mathematical simulation. The experimental results indicate that in various fault scenarios, the pseudo-inverse combined with a nonlinear quadratic programming algorithm can compensate for the missing control inputs due to control constraints, ensuring the normal thrust of AUV actuators and achieving the expected fault-tolerant effect.<\/jats:p>","DOI":"10.3390\/s24103029","type":"journal-article","created":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T11:18:17Z","timestamp":1715599097000},"page":"3029","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Fault-Tolerant Control of Autonomous Underwater Vehicle Actuators Based on Takagi and Sugeno Fuzzy and Pseudo-Inverse Quadratic Programming under Constraints"],"prefix":"10.3390","volume":"24","author":[{"given":"Zimu","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6010-8393","authenticated-orcid":false,"given":"Yunkai","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Automation, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}]},{"given":"Yang","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Computer Science and Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}]},{"given":"Dahai","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Automation, Jiangsu University of Science and Technology, Zhenjiang 212100, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,5,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"108351","DOI":"10.1016\/j.oceaneng.2020.108351","article-title":"Periodic disturbance estimation based adaptive robust control of marine vehicles","volume":"219","author":"Kurtoglu","year":"2020","journal-title":"Ocean Eng."},{"key":"ref_2","first-page":"41","article-title":"Fault Tolerant Control of an AUV using Periodic Output Feedback with Multi Model Approach","volume":"5","author":"Joshi","year":"2016","journal-title":"Int. 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