Robust MPC-Based Fault-Tolerant Control for Trajectory Tracking of Surface Vessel | Zendy

Yu Zheng | Zendy; Zhilin Liu | Zendy; Lutao Liu | Zendy

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Robust MPC-Based Fault-Tolerant Control for Trajectory Tracking of Surface Vessel

Author(s) -

Yu Zheng,

Zhilin Liu,

Lutao Liu

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2817345

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

A robust control method, based on a model predictive control, is developed for the trajectory tracking of a surface vessel with sensor failures. The kinematic model of a surface vessel is first obtained. The Lyapunov stability theory and linear matrix inequalities are then adopted to produce a closed-loop system that can have a fault-tolerant capability against sensor failures and to subsequently obtain the simulated results of a fault-tolerant controller through solving the linear matrix inequalities. The asymptotic tracking position, heading angle, and the velocities of the surface vessel can be obtained using the inputs of incomplete state information in the simulation. The feasibility and effectiveness of the proposed control method have been verified through simulation results.

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