Event-triggered observer-based T-S fuzzy dynamic positioning fault-tolerant control for unmanned surface vehicle

To improve the anti-disturbance and reliability performance for unmanned surface vehicles subject to actuator faults and external disturbances, an adaptive event-triggered observer-based output feedback control method is proposed. Firstly, a Takagi-Sugeno fuzzy system is established by considering unknown disturbances and actuator faults. Secondly, an adaptive event-triggered mechanism is designed and then the state and disturbance observers are constructed using the output of the event generator. Based on the outputs of the observers, an adaptive event-triggered observer-based output feedback dynamic positioning controller is developed and the asymptotical stability with H-8 performance is analyzed via the Lyapunov function method. Finally, the advantages of the proposed method are demonstrated via an example.

Automated summary

An adaptive event-triggered observer-based output feedback control method is proposed to enhance the anti-disturbance and reliability performance of unmanned surface vehicles in the presence of actuator faults and external disturbances. A Takagi-Sugeno fuzzy system is established considering the unknown disturbances and actuator faults. An adaptive event-triggered mechanism is designed to construct state and disturbance observers based on the output of the event generator. The developed adaptive event-triggered observer-based output feedback dynamic positioning controller ensures asymptotical stability with H-8 performance, as proved by the Lyapunov function method. The advantages of the proposed method are demonstrated through an example.