Journal
APPLIED MATHEMATICS AND COMPUTATION
Volume 359, Issue -, Pages 433-455Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.amc.2019.04.069
Keywords
Unmanned marine vehicle (UMV); Fault tolerant control; Sliding mode output feedback; Linear matrix inequality (LMI); H-infinity control
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Funding
- National Natural Science Foundation of China [61503055, 61602077, 71831002]
- Dalian Innovative Support Scheme for High-level Talents [2017RQ072]
- Program for Innovative Research Team in University of Ministry of Education of China [IRT_17R13]
- Fundamental Research Funds for the Central University [3132019104, 3132019501, 31322019502]
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This paper designs the robust fault tolerant controller for unmanned marine vehicle (UMV) systems with thruster faults and external disturbances via sliding mode output feedback. A comprehensive and unified fault model including thruster partial, complete and stuck faults is built for the first time. Based on input matrix full-rank decomposition technique and H-infinity technique, a sufficient condition of sliding mode in the form of linear matrix inequality (LMI) is given. Then taking advantage of adaptive mechanism, a nonlinear discontinuous control term and an output feedback controller are aimed to reduce the oscillation amplitudes of the yaw velocity error and the yaw angle. Compared with the existing methods, the general faults including time-varying stuck fault can be dealt with. Eventually, the comparative simulation results have demonstrated the effectiveness and feasibility of the presented strategy in this paper. (C) 2019 Elsevier Inc. All rights reserved.
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