Fault-Tolerant Dynamic Periodic Event-Based Depth Control of AUVs With Prescribed-Time Observer

The letter studies the problem of fault-tolerant event-triggered depth tracking control for autonomous underwater vehicles subject to disturbance and faults. Initially, a fault-tolerant prescribed-time observer is designed to estimate the system state, where the estimation errors converge to zero at a specified convergence time regardless of initial conditions. Then, a fault-tolerant event-triggered depth tracking control law is designed based on the observer’s state, where the dynamic periodic event-triggered strategy is employed to reduce the communication burden. It is proved that the proposed control method can address the depth tracking control problem via the Lyapunov function technique. The proposed method is validated through the simulation example.