Fault-tolerant trajectory tracking control for unmanned surface vehicle with actuator faults based on a fast fixed-time system

Lei Wan; Yu Cao; Yanchao Sun; Hongde Qin

doi:10.1016/j.isatra.2022.04.013

Fault-tolerant trajectory tracking control for unmanned surface vehicle with actuator faults based on a fast fixed-time system

ISA Trans. 2022 Nov:130:79-91. doi: 10.1016/j.isatra.2022.04.013. Epub 2022 Apr 13.

Authors

Lei Wan¹, Yu Cao², Yanchao Sun³, Hongde Qin⁴

Affiliations

¹ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China. Electronic address: wanlei@hrbeu.edu.cn.
² Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China. Electronic address: caoyu@hrbeu.edu.cn.
³ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China. Electronic address: sunyanchao@hrbeu.edu.cn.
⁴ Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China. Electronic address: qinhd@hrbeu.edu.cn.

PMID: 35491250
DOI: 10.1016/j.isatra.2022.04.013

Abstract

In this paper, an observer-based fixed-time tracking control strategy is presented for unmanned surface vehicles (USVs) with model uncertainties, external disturbances, and actuator faults. Firstly, as the theory foundation, a fast fixed-time stable system that has a shorter settling time than the existing systems is proposed. According to this system and the motion characteristics of an USV, a fast fixed-time disturbance observer is developed to obtain the unknown effects caused by lumped uncertainties. By combining the estimated knowledge and a nonsingular fast fixed-time terminal sliding surface, a robust fast fixed-time trajectory tracking controller is designed for the USV. According to Lyapunov stability theory, the fast fixed-time convergence of the proposed controller is proved. Finally, the simulation results demonstrate the effectiveness of the developed control scheme.

Keywords: Actuator faults; Fast fixed-time stability; Fixed-time disturbance observer; Nonsingular fixed-time terminal sliding surface; Unmanned surface vehicle.