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Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles

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  • Hao, Li-Ying
  • Zhang, Yu-Qing
  • Li, Hui

Abstract

In this article, the fault-tolerant control problem against thruster faults is investigated for unmanned marine vehicles. The main approach is, for the first time, based on integral sliding mode control technique where only measurable outputs of unmanned marine vehicles are used. By using matrix full-rank decomposition and adaptive mechanism, an output integral sliding surface is constructed and an integral sliding mode controller with a full-order compensator is designed to attenuate the oscillation amplitudes of the yaw angle and yaw velocity error in the presence of thruster faults and ocean external disturbances. Through a typical floating production ship, the effectiveness of the proposed method is verified in the simulation example.

Suggested Citation

  • Hao, Li-Ying & Zhang, Yu-Qing & Li, Hui, 2021. "Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles," Applied Mathematics and Computation, Elsevier, vol. 401(C).
    • Handle: RePEc:eee:apmaco:v:401:y:2021:i:c:s0096300321001260
    DOI: 10.1016/j.amc.2021.126078
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    References listed on IDEAS

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    1. Chang, Xiao-Heng & Xiong, Jun & Park, Ju H., 2016. "Fuzzy robust dynamic output feedback control of nonlinear systems with linear fractional parametric uncertainties," Applied Mathematics and Computation, Elsevier, vol. 291(C), pages 213-225.
    2. Liu, Yu-An & Tang, Shengdao & Liu, Yufan & Kong, Qingkai & Wang, Jing, 2021. "Extended dissipative sliding mode control for nonlinear networked control systems via event-triggered mechanism with random uncertain measurement," Applied Mathematics and Computation, Elsevier, vol. 396(C).
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    Cited by:

    1. Li, Ming-Yang & Xie, Wen-Bo & Wang, Yu-Long & Hu, Xin, 2022. "Prescribed performance trajectory tracking fault-tolerant control for dynamic positioning vessels under velocity constraints," Applied Mathematics and Computation, Elsevier, vol. 431(C).
    2. Kim, Jin Hoe & Yoo, Sung Jin, 2022. "Distributed event-triggered adaptive output-feedback formation tracking of uncertain underactuated underwater vehicles in three-dimensional space," Applied Mathematics and Computation, Elsevier, vol. 424(C).
    3. Dong, Sheng & Shen, Zhipeng & Zhou, Lu & Yu, Haomiao & Zhu, Guibing, 2023. "Nonlinear feedback-based event-triggered output-feedback control for marine surface vehicles under deferred output constraints," Applied Mathematics and Computation, Elsevier, vol. 454(C).

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