Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 18, Issue 3, Pages 739-752Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-019-0112-7
Keywords
Fault-tolerant control; persistent disturbances; sliding mode control; thruster faults; unmanned marine vehicle
Categories
Funding
- National Natural Science Foundation of China [61503055, 51939001, 61976033, 61602077]
- Dalian Innovative Support Scheme for High-level Talents [2017RQ072]
- Science and Technology Innovation Funds of Dalian [2019J12GX040, 2018J11CY022]
- Fundamental Research Funds for the Central University [3132019104, 3132019355]
- Liaoning Natural Science Foundation Project [20180540064, 2019-KF-03-09]
- Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission [MD-IPAC-201901]
Ask authors/readers for more resources
This paper is concerned with a robust adaptive fault-tolerant compensation control problem based on sliding mode technique for an unmanned marine vehicle (UMV) with thruster faults and unknown persistent ocean disturbances. A general thruster fault model including partial, total and time-varying stuck is built for the first time. Once the thrusters occur unknown and time-varying stuck faults, the mission of the UMV may be canceled. To avoid it, full-rank decomposition of the thruster configuration matrix is made, based on which a linear sliding surface is constructed and adaptive mechanism is incorporated into sliding mode reaching law. Without the prior knowledge of ocean external disturbances, sliding mode stability is analyzed and a sufficient stability condition through H? technique is given. Further the nonlinear unit vector gain of the adaptive sliding mode fault-tolerant compensation controller is designed to ensure the UMV system errors converge to zero independent of fault detection and diagnosis (FDD) mechanism. Finally, the comparison simulation results through a typical floating production ship are shown to testify the feasibility of the presented method.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available