Path-Following Control with Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults - Hao, Li-Ying; Dong, Gege; Li, Tieshan; Peng, Zhouhua (IEEE/CAA journal of automatica sinica, 2024)
Keywords: 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)