Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 69, Issue 4, Pages 3693-3702Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2019.2957529
Keywords
Dynamic output feedback fault tolerant control; unmanned underwater vehicle; actuator fault; trajectory tracking
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Funding
- National Natural Science Foundation of China [61973197, 61603222, 61751307]
- SDUST Research Fund [2018YQJH101]
- Applied Basic Research Programs of Qingdao [18-2-2-57-jch]
- Shandong ProvinceKeyResearch Program [2019RKB01029]
- Research Fund for the Taishan Scholar Project of Shandong Province of China
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In this paper, we propose a dynamic output feedback fault tolerant control (FTC) scheme to achieve trajectory tracking for an unmanned underwater vehicle (UUV) subject to actuator faults, actuator saturation, external disturbances and other system uncertainties. To make matters more challenging, it is assumed that the velocities (linear and angular) are unavailable. In this condition, the UUV motion model in the horizontal plane has a high relative degree, thus increasing the design complexity. In contrast to observer-based FTC schemes, we introduce a dynamic compensator, which produces an augmented error system whose dynamics is minimum phase and relative degree one. An adaptive learning observer is then introduced to address the composite uncertainties arising from actuator faults, uncertain nonlinearities, actuator saturation and disturbances. We show that the proposed scheme can ensure that the trajectory tracking errors converge to a small neighbourhood around zero. Finally, a simulation example is used to prove the efficacy of the proposed scheme.
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