期刊
OCEAN ENGINEERING
卷 110, 期 -, 页码 15-24出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2015.09.035
关键词
Underwater vehicles; Fault tolerant control; Backstepping method; Neural network; Adaptive sliding mode
资金
- National Natural Science Foundation of China [51279040]
- Basic Research Program of Ministry of Industry and Information Technology of People's Republic of China [B2420133003]
- Council Scholarship of China [201130735]
A thruster fault tolerant control (FTC) method is developed for underwater vehicles in the presence of modelling uncertainty, external disturbance and unknown thruster fault. The developed method incorporates the sliding mode algorithm and backstepping scheme to improve its robustness to modelling uncertainty and external disturbance. In order to be independent of the fault detection and diagnosis (FDD) unit, thruster fault is treated as a part of the general uncertainty along with the modelling uncertainty and external disturbance, and radial basis function neural network (RBFNN) is adopted to approximate the general uncertainty. According to the Lyapunov theory, control law and adaptive law of RBFNN are derived to ensure the tracking errors asymptotically converge to zero. Trajectory tracking simulations of underwater vehicle subject to modelling uncertainty, ocean currents, tether force and thruster faults are carried out to demonstrate the effectiveness and feasibility of the proposed method. (c) 2015 Elsevier Ltd. All rights reserved.
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