Fault-tolerant Trajectory Tracking Control for Underactuated UUV based on Fast Terminal Sliding Mode

We address the trajectory tracking problem for underactuated unmanned underwater vehicle(UUV) in the presence of actuator failure. Firstly, we reconstruct the UUV model according to the possible actuator failures in practice. Then, the third-order sliding mode passive fault tolerant controller was designed. And we prove the controller satisfy the Lyapunov stability. Finally, we demonstrate the controller can complete the established control tasks and has good performance under limited fault conditions through numerical simulation experiments.