Event-Triggered Adaptive PID Fault-Tolerant Control of Underactuated ASVs Under Saturation Constraint

This article discusses a control problem of underactuated autonomous surface vehicles (ASVs) subject to internal/external uncertainties, input saturations, and actuator faults, and proposes a novel event-triggered adaptive PID fault-tolerant (ETAPID-FT) control solution. To resolve the design diffic...

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Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 53; no. 8; pp. 4922 - 4933
Main Authors Zhu, Guibing, Ma, Yong, Hu, Songlin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuators
Adaptive control
Adaptive systems
Autonomous surface vehicles (ASVs)
Closed loops
Control design
event–triggered adaptive PID
Fault tolerance
Fault tolerant systems
fault-tolerant (FT) control
Feedback control
Mathematical models
Position errors
Proportional integral derivative
saturation
Sea surface
Self tuning
self–tuning control gain
Surface vehicles
Uncertainty
Online AccessGet full text
ISSN2168-2216
2168-2232
DOI10.1109/TSMC.2023.3256538

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Abstract This article discusses a control problem of underactuated autonomous surface vehicles (ASVs) subject to internal/external uncertainties, input saturations, and actuator faults, and proposes a novel event-triggered adaptive PID fault-tolerant (ETAPID-FT) control solution. To resolve the design difficulty caused by the underactuated feature, a standard multivariate integral cascade form regarding the mathematical model of underactuated ASVs is established. And then, to facilitate the implementation of PID-based design framework, the nonsmooth actuator saturation nonlinearity caused by the saturation constraint is represented by a smooth saturation model. In the control design, considering full features of the actuator fault and smooth function, an indirect neural approximation with single-parameter-leaning technique is developed, which endows the function of self-tuning control gain for the control solution. To relieve the mechanical wear of actuator, an improved event-triggered protocol by implanting a decreasing function of ASV's position error is proposed. Moreover, the theoretical results show that the proposed ETAPID-FT control solution can guarantee the boundedness of all the signals in the closed-loop control system of underactuated ASVs. Finally, the validity of the developed control solution is confirmed by the simulation and comparative results
AbstractList This article discusses a control problem of underactuated autonomous surface vehicles (ASVs) subject to internal/external uncertainties, input saturations, and actuator faults, and proposes a novel event-triggered adaptive PID fault-tolerant (ETAPID-FT) control solution. To resolve the design difficulty caused by the underactuated feature, a standard multivariate integral cascade form regarding the mathematical model of underactuated ASVs is established. And then, to facilitate the implementation of PID-based design framework, the nonsmooth actuator saturation nonlinearity caused by the saturation constraint is represented by a smooth saturation model. In the control design, considering full features of the actuator fault and smooth function, an indirect neural approximation with single-parameter-leaning technique is developed, which endows the function of self-tuning control gain for the control solution. To relieve the mechanical wear of actuator, an improved event-triggered protocol by implanting a decreasing function of ASV’s position error is proposed. Moreover, the theoretical results show that the proposed ETAPID-FT control solution can guarantee the boundedness of all the signals in the closed-loop control system of underactuated ASVs. Finally, the validity of the developed control solution is confirmed by the simulation and comparative results
Author Zhu, Guibing
Hu, Songlin
Ma, Yong
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Snippet This article discusses a control problem of underactuated autonomous surface vehicles (ASVs) subject to internal/external uncertainties, input saturations, and...
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SubjectTerms Actuators
Adaptive control
Adaptive systems
Autonomous surface vehicles (ASVs)
Closed loops
Control design
event–triggered adaptive PID
Fault tolerance
Fault tolerant systems
fault-tolerant (FT) control
Feedback control
Mathematical models
Position errors
Proportional integral derivative
saturation
Sea surface
Self tuning
self–tuning control gain
Surface vehicles
Uncertainty
Title Event-Triggered Adaptive PID Fault-Tolerant Control of Underactuated ASVs Under Saturation Constraint
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