Unmanned vehicles are required to have resiliency that enables them to autonomously continue their operation even when actuator failures occur. This report proposes a fault-tolerant control for unmanned vehicles using redundantly arranged actuators to achieve the resiliency. Specifically, we have developed a fault-tolerant control function that allows unmanned vehicles to continue their travel in the event of an actuator failure. This function was realized with a failure detector developed to detect actuator failures by comparison of the rudder angles estimated for each actuator, as well as a fault decoupling controller developed to remove the effect of the failure based on the detected actuator failure information. Furthermore, we conducted a simulative evaluation to verify the effectiveness of the developed fault-tolerant control.
