Path-Following Control with Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

• Published in: IEEE/CAA journal of automatica sinica Vol. 11; no. 4; pp. 956 - 964
• Main Authors: Hao, Li-Ying, Dong, Gege, Li, Tieshan, Peng, Zhouhua
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.04.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China%School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731; Yangtze Delta Region Institute (Huzhou), Huzhou 313001, China; Navigation College, Dalian Maritime University, Dalian 116026
• Subjects: Actuator faults; Actuators; autonomous surface vehicle (ASVs); Collision avoidance; Disturbances; Fault tolerance; Fault tolerant systems; Faults; improved artificial potential function; Lower bounds; nonlinear state observer; Observers; Obstacle avoidance; Position measurement; State observers; Surface vehicles; Task analysis; Tracking errors; Uncertainty; improved artificial potential function; nonlinear state observer; obsta-cle avoidance; Actuator faults; autonomous surface vehicle(ASVs)
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2023.123675

This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults, uncertainty and external disturbances. Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments, which may cause existing obstacle avoidance strategies to fail. To reduce the influence of actuator faults, an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors. The nonlinear state observer, which only depends on measurable position information of the autonomous surface vehicle, is used to address uncertainties and external disturbances. By using a backstepping technique and adaptive mechanism, a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero. Compared with existing results, the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously. Finally, the comparison results through simulations are given to verify the effectiveness of the proposed method.