期刊
NEURAL COMPUTING & APPLICATIONS
卷 -, 期 -, 页码 -出版社
SPRINGER LONDON LTD
DOI: 10.1007/s00521-023-08786-5
关键词
Actuator fault; Disturbance observer; Event-triggered scheme; T-S fuzzy model; Unmanned surface vehicle
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.
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.
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