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,150001, China
[2] College of Shipbuilding Engineering, Harbin Engineering University, Harbin,150001, China
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2024年 / 45卷 / 10期
关键词：
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;
D O I：
10.11990/jheu.202206088
中图分类号：
学科分类号：
摘要：
引用
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页码：1865 / 1872
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