Journal
OCEAN ENGINEERING
Volume 215, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2020.107882
Keywords
Adaptive sliding mode control; Unmanned marine vehicles; Quantization; Time-delay; Thruster faults
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 [2018J11CY022]
- Liaoning Natural Science Foundation Project [20180540064, 2019-KF-03-09]
- Postgraduate Innovation Project of Dalian Maritime University [SSCXXM007]
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This paper deals with the adaptive sliding mode fault-tolerant control problem for unmanned marine vehicles (UMVs) with signal quantization and state time-delay. A unified thruster fault model for UMVs is built by taking bias, partial, total, time-varying stuck, and hard-over faults into account. For UMVs in the network environment, the effects of quantization and state time-delay on UMVs are inevitable. In this situation, adaptive sliding mode technology and dynamic quantization parameter adjustment strategy are combined to compensate for the quantization errors and time-delay effects. Compared with the traditional method, a larger quantization parameter adjustment range is given and a new dynamic quantization parameter adjustment strategy is designed. Further the quantized sliding mode fault-tolerant controller independent of fault detection and diagnosis mechanism is designed for UMVs in the presence of time-delay and various thruster faults to reduce the oscillation amplitudes of the yaw velocity error. The comparison simulations of a typical floating production ship have been provided to demonstrate the effectiveness of the proposed algorithm.
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