This paper investigates the fault-tolerant control (FTC) issue under input saturation and thruster failures in unmanned marine vehicles (UMVs). Firstly, adaptive laws are proposed to estimate the lumped uncertainties of the model. Secondly, an auxiliary system is designed to address the issue of thruster input saturation. Then, an anti-saturation fault-tolerant controller is designed to achieve dynamic positioning (DP) control for UMVs. Different from existing results, the proposed control strategy guarantees stability within a finite time framework. Finally, the effectiveness of the proposed method is validated through simulations on a floating production vessel.
Finite-Time Adaptive Fault-Tolerant Sliding Mode Control for Unmanned Marine Vehicles Under Input Saturation
08.12.2024
539430 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Elsevier | 2025
|