Robust Nonlinear Backstepping Anti-Disturbance Fault-Tolerant Control of Ships

In this article, a robust nonlinear backstepping anti-disturbance fault-tolerant control scheme is developed for surface ship with time-varying environmental disturbances and actuator faults conditions. The ship tracking composite anti-disturbance fault-disturbance control law is designed by the fus...

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Bibliographic Details
Main Authors: Han, Guojie, Gong, Qingtao, Hu, Xin, Teng, Yao, Li, Kangqiang, Liu, Zhipeng
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Backstepping
Control systems
Fault tolerance
Fault tolerant systems
Sea surface
Trajectory tracking
Online Access:Request full text
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Summary:In this article, a robust nonlinear backstepping anti-disturbance fault-tolerant control scheme is developed for surface ship with time-varying environmental disturbances and actuator faults conditions. The ship tracking composite anti-disturbance fault-disturbance control law is designed by the fusion of disturbance observer and fault observer with backstepping control method. The disturbance observer is utilized to provide on-line estimates of the disturbance in the time-varying ocean environment. The fault observer is employed to provide the on-line estimates of the occurrence of actuator faults. It is proved by illustrative simulations that the closed-loop control system is stable and the ship position and heading tracking can be achieved.
ISSN:2642-6633
DOI:10.1109/CYBER59472.2023.10256457