Fault-tolerant Control for Unmanned Marine Vehicles subject to Mismatched Quantization

This paper investigates the fault-tolerant control (FTC) problem for unmanned marine vehicles (UMVs) subject to mismatched quantization and thruster faults via sliding mode output feedback control. The mismatch ratio of the quantization sensitivity paramaters is regarded to be time-varying within an...

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Bibliographic Details
Published inInternational Conference on Information Science and Technology pp. 68 - 76
Main Authors Hao, Li-Ying, Yu, Ying, Zhang, He, Li, Hui
Format Conference Proceeding
LanguageEnglish
Published IEEE 21.05.2021
Subjects
Attitude control
Fault tolerance
Fault tolerant systems
Information science
mismatched quantization
Quantization (signal)
Sensitivity
Simulation
sliding mode output feedback
thruster faults
unmanned marine vehicle
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Summary:This paper investigates the fault-tolerant control (FTC) problem for unmanned marine vehicles (UMVs) subject to mismatched quantization and thruster faults via sliding mode output feedback control. The mismatch ratio of the quantization sensitivity paramaters is regarded to be time-varying within an interval, which is more applicable in practical quantizers than the consistent mismatch ratio. The compensator-based sliding-mode output feedback controller is effective to compensate for thruster faults and quantization errors, and ensure the asymptotic stability of UMV systems. Finally, the simulation results have illustrated the validity of the proposed method.
ISSN:2573-3311
DOI:10.1109/ICIST52614.2021.9440566