Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

doi:10.1109/JAS.2023.123837

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	Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation
	Xuerao Wang; Qingling Wang; Yanxu Su; Yuncheng Ouyang; Changyin Sun
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:4 页码:907-918
摘要	This paper investigates the tracking control problem for unmanned underwater vehicles (UUVs) systems with sensor faults, input saturation, and external disturbance caused by waves and ocean currents. An active sensor fault-tolerant control scheme is proposed. First, the developed method only requires the inertia matrix of the UUV, without other dynamic information, and can handle both additive and multiplicative sensor faults. Subsequently, an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method. It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator. With the proposed controller, the tracking error and estimation error can asymptotically converge to zero. Finally, simulation results are performed to demonstrate the effectiveness of the proposed method.
关键词	Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle
DOI	10.1109/JAS.2023.123837
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/55365
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Xuerao Wang,Qingling Wang,Yanxu Su,et al. Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(4):907-918.
APA	Xuerao Wang,Qingling Wang,Yanxu Su,Yuncheng Ouyang,&Changyin Sun.(2024).Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation.IEEE/CAA Journal of Automatica Sinica,11(4),907-918.
MLA	Xuerao Wang,et al."Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation".IEEE/CAA Journal of Automatica Sinica 11.4(2024):907-918.

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