Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 70, Issue 1, Pages 146-157Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2021.3050044
Keywords
Attitude control; Quantization (signal); Marine vehicles; Vehicle dynamics; Delays; Sliding mode control; Switches; Fault tolerant control; quantized sliding mode control; Takagi-Sugeno fuzzy system; unknown membership functions; unmanned marine vehicles
Categories
Funding
- National Key Research and Development Program of China [2019YFE0111600]
- National Natural Science Foundation of China [51939001, 61976033, 61971083, 61602077]
- Dalian Innovative Support Scheme for High-level Talents [2017RQ072]
- Science and Technology Innovation Funds of Dalian [2018J11CY022, 2019J11CY015]
- Liaoning Natural Science Foundation [2019-KF-03-09]
- Liaoning Revitalization Talents Program [XLYC1908018]
- Fundamental Research Funds for the Central Universities [3132019345]
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This paper presents a novel fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using quantized feedback sliding mode control technique. By combining the quantized sliding mode control strategy and an improved dynamic quantization parameter adjustment strategy, the dynamic positioning of unmanned marine vehicles with thruster faults and quantization can be maintained.
This paper proposes a novel fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using the quantized feedback sliding mode control technique. Due to the complex ocean environment, the unmanned marine vehicles are modeled as the Takagi-Sugeno fuzzy system with unknown membership functions. When the membership functions are not available, traditional sliding mode control technique becomes infeasible. To tackle this difficulty, a novel quantized sliding mode control strategy based on switching mechanism is designed to compensate for thruster faults effects. In addition, the phenomenon of time-varying delay leads to conservativeness of the existing dynamic quantization parameter adjustment strategy. Then a larger quantization parameter adjustment range, by taking time delay and fault factor into account, is given. Combining the novel sliding mode controller design and the improved dynamic quantization parameter adjustment strategy, the dynamic positioning of unmanned marine vehicles with thruster faults and quantization can be maintained. Finally, the effectiveness of the proposed method is verified through the simulation comparison results.
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