Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a new control strategy for unmanned surface vehicles (USVs) to maintain accurate trajectories despite system uncertainties and actuator failures. The developed adaptive fuzzy fault-tolerant controller ensures reliable performance for marine robotic systems.
Area Of Science
- Robotics
- Control Systems Engineering
- Marine Engineering
Background
- Unmanned Surface Vehicles (USVs) are crucial marine robotic systems for surveillance, monitoring, and transport.
- Controlling USVs is challenging due to model uncertainties and potential actuator faults.
- Ensuring precise trajectory tracking is vital for operational success.
Purpose Of The Study
- To develop a robust trajectory tracking control scheme for USVs.
- To address challenges posed by model uncertainties and actuator faults.
- To guarantee predefined tracking performance and system stability.
Main Methods
- A logarithm barrier Lyapunov functions-based predefined tracking control scheme was designed.
- An adaptive fuzzy fault-tolerant controller was proposed to handle actuator faults.
- Fuzzy logic systems were employed to estimate unknown hydrodynamic parameters.
Main Results
- The proposed control scheme effectively regulates the USV's position error within a predefined region.
- The adaptive fuzzy fault-tolerant controller ensures predefined transient and steady-state tracking performance.
- Lyapunov stability analysis confirmed the boundedness of all closed-loop signals.
Conclusions
- The developed control scheme offers a robust solution for USV trajectory tracking under uncertainties and faults.
- Simulation results validate the effectiveness and reliability of the proposed fault-tolerant control strategy.
- This research contributes to the advancement of autonomous marine systems.
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