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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Finite-Time Adaptive Fault-Tolerant Sliding Mode Control for Unmanned Marine Vehicles Under Input Saturation


    Contributors:
    Jiang, Ji-Yuan (author) / Hao, Li-Ying (author) / Liu, Yanli (author) / Wang, Jia-Bin (author)


    Publication date :

    2024-12-08


    Size :

    539430 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English