Adaptive model-free fault-tolerant control for unmanned surface vehicle with input saturation and event-triggered mechanism

被引：0

作者：

Zhang, Enhua ^{[1
,2
]}

Wang, Weikai ^{[1
,2
]}

Su, Yumin ^{[1
,2
]}

机构：

[1] Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin

[2] College of Shipbuilding Engineering, Harbin Engineering University, Harbin

来源：

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2024年 / 45卷 / 10期

关键词：

adaptive control; event-triggered control; fault-tolerant control; input saturation; model-parameter-free; sliding mode control; trajectory tracking control; unmanned surface vehicle;

D O I：

10.11990/jheu.202206088

中图分类号：

学科分类号：

摘要：

This paper studies an adaptive event-triggered control method for unmanned surface vehicle (USV) in presence of unknown model parameters and external disturbance. Firstly, a totally model-free sliding mode control architecture is exploited to force the tracking errors converging tot a residual set, which implies that the proposal will possess desirable robustness to parameter variations. Then, the designed controller is combined with saturation function and fault-tolerant method to compensate the lost torque caused by actuator failure and saturation. Thereafter, in order to save limited communication resources and system energy, event-triggered mechanism is deployed between actuators and controllers, so that generate segmented control signals and reduce the updating frequency of actuators. Finally, theoretical analysis and numerical simulations are provided to illustrate the effectiveness and superiority of the proposed controller. © 2024 Editorial Board of Journal of Harbin Engineering. All rights reserved.

引用

页码：1865 / 1872

页数：7

共 19 条

[1]

DONG Lei, MA Xiang, FENG Jiaxiang, Et al., Online prediction method of ship maneuvering motion based on improved long-short term memory neural network [ J], Ship building of China, 64, 2, pp. 184-198, (2023)

[2]

KARNANI C, RAZA S A, ASIF M, Et al., Adaptive control algorithm for trajectory tracking of underactuated unmanned surface vehicle (UUSV)[J], Journal of robotics, 2, pp. 1-10, (2023)

[3]

TONG Haiyan, An adaptive error constraint line-of-sight guidance and finite-time backstepping control for unmanned surface vehicles [ J], Ocean engineering, 285, (2023)

[4]

WANG Ning, HE Hongkun, Dynamics-level finite-time fuzzy monocular visual servo of an unmanned surface vehicle, IEEE transactions on industrial electronics, 67, 11, pp. 9648-9658, (2019)

[5]

HAN Zhengqing, WANG Yintao, SUN Qi, Straight-path following and formation control of USVs using distributed deep reinforcement learning and adaptive neural network [J], IEEE/ CAA journal of automatica sinica, 10, 2, pp. 572-574, (2023)

[6]

WANG Jiliang, PERKINS E, HUNG J Y., Trajectory tracking control for an underwater vehicle manipulator system using a neural-adaptive network, 2019 Southeast-Con, pp. 1-6, (2019)

[7]

LU Yu, ZHANG Guoqing, SUN Zhijian, Et al., Adaptive cooperative formation control of autonomous surface vessels with uncertain dynamics and external disturbances [ J], Ocean engineering, 167, pp. 36-44, (2018)

[8]

CHEN Mou, JIANG Bing, CUI Rongxin, Actuator fault-tolerant control of ocean surface vessels with input saturation, International journal of robust and nonlinear control, 26, 3, pp. 542-564, (2016)

[9]

SU Yuxin, ZHENG Chunhong, MERCORELLI P., Nonlinear PD fault-tolerant control for dynamic positioning of ships with actuator constraints, IEEE/ ASME transactions on mechatronics, 22, 3, pp. 1132-1142, (2017)

[10]

ZHANG Mingjun, LIU Xing, YIN Baoji, Et al., Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents, Journal of the franklin institute, 352, 11, pp. 4935-4961, (2015)

← 1 2 →