Adaptive Optimized Tracking Control of an Autonomous Marine Vehicle with Actuator Faults

This article studies the problem of adaptive optimized fault-tolerant tracking control for an autonomous marine vehicle subject to actuator faults. By proposing a novel optimized backstepping strategy, the optimal controllers at the kinematic and kinetic levels are derived. Different from the existi...

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Bibliographic Details
Published in2024 Second International Conference on Cyber-Energy Systems and Intelligent Energy (ICCSIE) pp. 1 - 5
Main Authors Xu, Yanhong, Xu, Qiushi, Wang, Xiaoyun, Gu, Liwen, Zhang, Yan, Deng, Linjiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 17.05.2024
Subjects
actuator faults
Actuators
Adaptive control
autonomous marine vehicle
Backstepping
Closed loop systems
Fault tolerance
Fault tolerant systems
Kinematics
Kinetic theory
Lyapunov methods
optimized backstepping
Simulation
Underactuated surface vessels
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Summary:This article studies the problem of adaptive optimized fault-tolerant tracking control for an autonomous marine vehicle subject to actuator faults. By proposing a novel optimized backstepping strategy, the optimal controllers at the kinematic and kinetic levels are derived. Different from the existing optimized backstepping strategies with the case of actuator health, the unknown control rate and the gradient of the optimal performance index function are viewed as a unified whole to derive the available optimal controllers at the kinetic level. In Lyapunov stability analysis, the designed optimal controller can be contaminated by the unknown parameters of actuator faults, which cannot ensure the boundedness of the closed-loop system. To overcome this difficulty, an actual adaptive fault-tolerant controller is designed to effectively compensate for actuator faults. Finally, the effectiveness of the presented method is demonstrated by simulation results.
DOI:10.1109/ICCSIE61360.2024.10698499