Event-triggered adaptive fault-tolerant control for marine vehicles with multiple faults and environmental disturbance

This paper proposes an adaptive fault-tolerance control with an event trigger based on the backstepping method dedicated to the trajectory tracking problem of marine vehicles with multiple faults and external disturbances. This study uniquely couples environmental disturbances with component faults as unmatched uncertainty. Firstly, the adaptive unmatched uncertainty estimator is used to compensate for unmatched uncertainty. Secondly, an adaptive backstepping technique is employed to estimate the actuator fault. By integrating adaptive results into the control input, tracking errors converge to an adjustable boundary. The closed-loop stability is proven. Zeno behavior, the phenomenon of infinite triggering infinite time, is excluded effectively. Finally, comprehensive simulation examples demonstrate the effectiveness and robustness of the proposed scheme comparing the faulty system.