Integral sliding mode fault tolerant control for unmanned surface vessels with quantization: Less iterations

This paper introduces an integral sliding mode quantized control strategy for unmanned surface vessels (USVs) with thruster faults and signal quantization over networks. The main challenge focuses on the co-design of dynamic quantization parameter adjustment strategy (DQPAS) and fault tolerance ability. The existing literature has solved it with a heavy computation burden. To reduce the repeated iteration of quantization parameter, an improved DQPAS with a well-chosen initial value of quantization parameter is designed. Based on it, an integral sliding mode fault tolerant controller with fault estimation is proposed to suppress the oscillation amplitudes of yaw angle and yaw velocity from the very beginning. Finally, comparison simulation results have demonstrated that the derived strategy is effective.