期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 26, 期 3, 页码 542-564出版社
WILEY-BLACKWELL
DOI: 10.1002/rnc.3324
关键词
ocean surface vessels; input saturation; fault-tolerant control; robust adaptive control; backstepping control
资金
- Jiangsu Natural Science Foundation of China [SBK20130033]
- Program for New Century Excellent Talents in University of China [NCET-11-0830]
- National Natural Science Foundation of China [51209174]
- Liu Da Ren Cai Gao Feng scheme of Jiangsu Province in China [2012-XXRJ-010]
- Priority Academic Program Development of Jiangsu Higher Education Institutions
In this paper, an actuator robust fault-tolerant control is proposed for ocean surface vessels with parametric uncertainties and unknown disturbances. Using the backstepping technique and Lyapunov synthesis method, the adaptive tracking control is first developed by incorporating the actuator configuration matrix and considering actuator saturation constraints. The changeable actuator configuration matrix caused by rotatable propulsion devices is considered. Next, the actuator fault-tolerant control is developed for the case when faults occur in propulsion devices of the ocean surface vessel. Rigorous stability analysis is carried out to show that the proposed fault-tolerant control can guarantee the stability of the closed-loop system under certain actuator failure. Finally, simulation studies are given to illustrate the effectiveness of the proposed adaptive tracking control and fault-tolerant control. Copyright (C) 2015 John Wiley & Sons, Ltd.
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