Fault-tolerant Compensation Control Based on Sliding Mode Technique of Unmanned Marine Vehicles Subject to Unknown Persistent Ocean Disturbances
This paper is concerned with a robust adaptive fault-tolerant compensation control problem based on sliding mode technique for an unmanned marine vehicle (UMV) with thruster faults and unknown persistent ocean disturbances. A general thruster fault model including partial, total and time-varying stu...
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Published in | International journal of control, automation, and systems Vol. 18; no. 3; pp. 739 - 752 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.03.2020
Springer Nature B.V 제어·로봇·시스템학회 |
Subjects | |
Online Access | Get full text |
ISSN | 1598-6446 2005-4092 |
DOI | 10.1007/s12555-019-0112-7 |
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Summary: | This paper is concerned with a robust adaptive fault-tolerant compensation control problem based on sliding mode technique for an unmanned marine vehicle (UMV) with thruster faults and unknown persistent ocean disturbances. A general thruster fault model including partial, total and time-varying stuck is built for the first time. Once the thrusters occur unknown and time-varying stuck faults, the mission of the UMV may be canceled. To avoid it, full-rank decomposition of the thruster configuration matrix is made, based on which a linear sliding surface is constructed and adaptive mechanism is incorporated into sliding mode reaching law. Without the prior knowledge of ocean external disturbances, sliding mode stability is analyzed and a sufficient stability condition through
H
∞
technique is given. Further the nonlinear unit vector gain of the adaptive sliding mode fault-tolerant compensation controller is designed to ensure the UMV system errors converge to zero independent of fault detection and diagnosis (FDD) mechanism. Finally, the comparison simulation results through a typical floating production ship are shown to testify the feasibility of the presented method. |
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Bibliography: | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 http://link.springer.com/article/10.1007/s12555-019-0112-7 |
ISSN: | 1598-6446 2005-4092 |
DOI: | 10.1007/s12555-019-0112-7 |