Quantized Sliding Mode Fault-Tolerant Control for Unmanned Marine Vehicles with Thruster Saturation

• Published in: Journal of marine science and engineering Vol. 11; no. 2; p. 309
• Main Authors: Hao, Li-Ying, Zhao, Zhi-Hao
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.02.2023
• Subjects: Comparative analysis; Control theory; Controllers; Design; domain of attraction; Failure; Fault tolerance; fault tolerant control; Feedback control systems; Linear matrix inequalities; Marine machinery; Mathematical analysis; Measurement; Parameters; quantization; Rankings; Saturation; Simulation methods; Sliding mode control; Slumping; Stability; Systems stability; thruster saturation; Thrusters; unmanned marine vehicles; Unmanned vehicles; Vehicles
• ISSN: 2077-1312; 2077-1312
• DOI: 10.3390/jmse11020309

In this paper, the sliding mode technique is used to study the quantized fault-tolerant control of unmanned marine vehicles with thruster saturation. Firstly, the sliding mode surface is constructed according to the full rank decomposition of input matrix, and the stability of sliding mode is guaranteed by linear matrix inequalities. An improved dynamic adjustment scheme of quantization parameter is proposed. Compared with the original adjustment scheme, the relationship between quantization parameter and desired targets is increased, so that the adjustment range of quantization parameters is more comprehensive. The sliding mode controller is combined with quantization parameter adjustment strategy to ensure the asymptotic stability of unmanned marine vehicles system. In addition, compared with the existing research results of quantitative fault tolerance problem without considering saturation, this paper gives a result of the domain of attraction affected by the fault of the thruster. Finally, the superiority of the proposed method is verified by simulation comparison.