Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

doi:10.1109/JAS.2023.123837

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	Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation
	Xuerao Wang; Qingling Wang; Yanxu Su; Yuncheng Ouyang; Changyin Sun
刊名	IEEE/CAA Journal of Automatica Sinica
	2024
卷号	11 期号:4 页码:907-918
关键词	Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle
ISSN号	2329-9266
DOI	10.1109/JAS.2023.123837
英文摘要	This paper investigates the tracking control problem for unmanned underwater vehicles (UUVs) systems with sensor faults, input saturation, and external disturbance caused by waves and ocean currents. An active sensor fault-tolerant control scheme is proposed. First, the developed method only requires the inertia matrix of the UUV, without other dynamic information, and can handle both additive and multiplicative sensor faults. Subsequently, an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method. It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator. With the proposed controller, the tracking error and estimation error can asymptotically converge to zero. Finally, simulation results are performed to demonstrate the effectiveness of the proposed method.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55365]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Xuerao Wang,Qingling Wang,Yanxu Su,et al. Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(4):907-918.
APA	Xuerao Wang,Qingling Wang,Yanxu Su,Yuncheng Ouyang,&Changyin Sun.(2024).Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation.IEEE/CAA Journal of Automatica Sinica,11(4),907-918.
MLA	Xuerao Wang,et al."Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation".IEEE/CAA Journal of Automatica Sinica 11.4(2024):907-918.