Fault-tolerant Compensation Control Based on Sliding Mode Technique of Unmanned Marine Vehicles Subject to Unknown Persistent Ocean Disturbances

• Published in: International journal of control, automation, and systems Vol. 18; no. 3; pp. 739 - 752
• Main Authors: Hao, Li-Ying, Zhang, He, Yue, Wei, Li, Hui
• 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: Adaptive control; Compensation; Computer simulation; Control; Control systems design; Control Theory and Applications; Disturbances; Engineering; Fault detection; Fault diagnosis; Fault tolerance; H-infinity control; Mathematical analysis; Matrix methods; Mechatronics; Robotics; Robust control; Sliding mode control; Stability analysis; Thrusters; Unmanned vehicles; 제어계측공학; thruster faults; unmanned marine vehicle; persistent disturbances; Fault-tolerant control; sliding mode control
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0112-7

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.