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Actuator fault‐tolerant control of ocean surface vessels with input saturation
Author(s) -
Chen Mou,
Jiang Bing,
Cui Rongxin
Publication year - 2015
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3324
Subject(s) - backstepping , control theory (sociology) , actuator , parametric statistics , fault tolerance , flight control surfaces , control engineering , lyapunov function , lyapunov stability , propulsion , engineering , plant , fault (geology) , computer science , adaptive control , control (management) , nonlinear system , mathematics , artificial intelligence , aerodynamics , statistics , physics , quantum mechanics , geology , reliability engineering , aerospace engineering , seismology
Summary 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 © 2015 John Wiley & Sons, Ltd.