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Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults
Author(s) -
Zhang JinXi,
Yang GuangHong
Publication year - 2018
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.4228
Subject(s) - control theory (sociology) , actuator , multiplicative function , controller (irrigation) , nonlinear system , fault (geology) , control reconfiguration , computer science , fuzzy logic , inertia , surface (topology) , fault tolerance , control (management) , control engineering , engineering , mathematics , artificial intelligence , geology , mathematical analysis , distributed computing , physics , geometry , classical mechanics , quantum mechanics , seismology , agronomy , biology , embedded system
Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.