A novel non-fragile H∞ fault-tolerant course-keeping control for uncertain unmanned surface vehicles with rudder failures

Xiong J.; Li J.-N.; Du P.

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A novel non-fragile H∞ fault-tolerant course-keeping control for uncertain unmanned surface vehicles with rudder failures

机译：A novel non-fragile H∞ fault-tolerant course-keeping control for uncertain unmanned surface vehicles with rudder failures

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? 2023 Elsevier LtdThis paper investigates the problem of non-fragile H∞ fault-tolerant course-keeping control (NFC) for uncertain unmanned surface vehicles (UUSV) with rudder failures. Firstly, due to the inevitable parameter perturbations in practice, the unmanned surface vehicles (USV) is modeled as a kind of uncertain Nomoto model, and an uncertain second-order under-damped system is used to describe the rudder system. Next, considering the distribution characteristic of failures, a distribution-dependent stochastic failure model is established and incorporated into the controller design. In order to investigate the fragile problems of the controller, a new non-fragile fault-tolerant scheme is given against multiplicative and additive controller gain perturbations. Finally, the effectiveness of the proposed methods is verified via two numerical examples.

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《Ocean engineering》 |2023年第2期|1.1-1.11|共11页
作者
Xiong J.; Li J.-N.; Du P.;
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International Joint Research Laboratory for Autonomous Robotic Systems School of Automation Hangzhou Dianzi University;

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原文格式 PDF
正文语种英语
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关键词
Course-keeping control; Failure distribution; Fault-tolerant control; Non-fragile control; Unmanned surface vehicles;

A novel non-fragile H∞ fault-tolerant course-keeping control for uncertain unmanned surface vehicles with rudder failures

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