Robust Adaptive Propagated Interval Observer for Actuator Fault Diagnosis in Underactuated AUVs

Abstract

This paper presents an interval-observer-based actuator fault detection and isolation (FDI) method for underactuated autonomous underwater vehicles (AUVs) under bounded hydrodynamic uncertainty and time-varying ocean currents. A locally frozen linear time-invariant (LTI) representation enables deterministic set-membership analysis, and the robust adaptive propagated interval observer (RAPIO) propagates admissible center–radius state bounds within a Lyapunov framework. Adaptivity is introduced through a reinforcement learning (RL)-augmented uncertainty-bound modulation mechanism, where an offline-trained agent scales a nonnegative channel-wise slack term without modifying the scheduled observer-gain rule or the nominal center predictor. Under the stated observer and disturbance-envelope conditions, positivity, stability, and diagnostic-channel inclusion hold for any bounded learning signal. Actuator loss-of-effectiveness (LoE) faults are represented through the actuator-effectiveness channel and detected through interval-consistency violations, enabling axis-wise isolation of surge, yaw-rate, and pitch-rate actuator faults. The same schedule-blind decision layer is additionally evaluated with structurally distinct additive-bias and stuck/jam actuator models. All stuck/jam events are detected, and bias-magnitude sweeps identify channel-wise 100%-detection boundaries with zero false alarms. A structured 72-case scenario sweep shows reliable detection, strong false-alarm rejection, and acceptable detection delays compared with benchmark observers.