Fault-Tolerant Control of Autonomous Surface Vessels Subject to Steer Jamming for Harbor Returning

Steering jam is a common fault of autonomous surface vessels (ASVs) frequently encountered in practical operations. In such a scenario, the allowable ASV moving direction is confined to a narrow zone, which inevitably induces technical challenges for harbor-returning operations of ASVs. As a remedy,...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 70; no. 9; pp. 9390 - 9398
Main Authors Liu, Bin, Zhang, Hai-Tao, Meng, Haofei, Wang, Jun
Format Journal Article
LanguageEnglish
Published New York IEEE 01.09.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Closed loops
Control methods
Control systems
Fault tolerance
Fault tolerant systems
Jamming
motion control
Spirals
Steering
Surges
Trajectory
Trajectory tracking
Vessels
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Summary:Steering jam is a common fault of autonomous surface vessels (ASVs) frequently encountered in practical operations. In such a scenario, the allowable ASV moving direction is confined to a narrow zone, which inevitably induces technical challenges for harbor-returning operations of ASVs. As a remedy, we propose a moving-direction fault-tolerant control method for steering jammed ASVs to return to harbors autonomously. We derive sufficient conditions to guarantee the asymptotical stability of the closed-loop ASV system. We elaborate on experimental results on a HUSTER-16 platform established by us to substantiate the effectiveness of the proposed method.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2022.3215842