Event‐triggered obstacle avoidance control for autonomous surface vehicles with actuator faults

• Published in: International journal of robust and nonlinear control Vol. 34; no. 13; pp. 8692 - 8708
• Main Authors: Dong, Gege, Hao, Li‐Ying, Li, Tieshan, Peng, Zhouhua
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 10.09.2024
• Subjects: actuator faults; Actuators; Error reduction; event‐triggered mechanism; extended state observer; Fault tolerance; Faults; Obstacle avoidance; Parameter estimation; State observers; Surface vehicles; Tracking control; Tracking errors; Wear mechanisms

The article addresses the event‐triggered obstacle avoidance control problem for autonomous surface vehicles subject to actuator faults. In order to tackle the challenges presented by unknown actuator faults, internal model uncertainties, and external disturbances, we propose a fault‐tolerant contro...