Finite-time fault-tolerant trajectory tracking control of an autonomous surface vehicle

•A finite-time passive FTC (F-PFTC) scheme using integral sliding mode (ISM) manifold is developed by exploiting partial knowledge on faults and disturbances, and achieves fast and accurate tracking with passive fault tolerance.•An online finite-time fault estimator (FFE) is devised to detect, isola...

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Bibliographic Details
Published in:Journal of the Franklin Institute 2020-11, Vol.357 (16), p.11114-11135
Main Authors: Wang, Ning, Pan, Xinxiang, Su, Shun-Feng
Format: Article
Language:English
Subjects:
Autonomous vehicles
Disturbances
Fault detection
Fault diagnosis
Fault tolerance
Finite element analysis
Sliding mode control
Surface vehicles
Tracking control
Tracking control systems
Trajectory control
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Summary:•A finite-time passive FTC (F-PFTC) scheme using integral sliding mode (ISM) manifold is developed by exploiting partial knowledge on faults and disturbances, and achieves fast and accurate tracking with passive fault tolerance.•An online finite-time fault estimator (FFE) is devised to detect, isolate, and accommodate unknown faults and disturbances, and thereby eventually contributing to the finite-time active FTC (F-AFTC) scheme without using a priori knowledge.•Suffering from both unknown faults and disturbances, the proposed F-PFTC and F-AFTC schemes can track exactly an ASV to the desired trajectory. In this paper, finite-time fault-tolerant control (FTC) for trajectory tracking of an autonomous surface vehicle (ASV) is solved. Main contributions are summarized as follows: (1) a finite-time passive FTC (F-PFTC) scheme using integral sliding mode (ISM) manifold is developed by exploiting partial knowledge on faults and disturbances, and achieves fast and accurate tracking with passive fault tolerance; (2) an online finite-time fault estimator (FFE) is devised to detect, isolate, and accommodate unknown faults and disturbances, and thereby eventually contributing to the finite-time active FTC (F-AFTC) scheme without using a priori knowledge; (3) suffering from both unknown faults and disturbances, the proposed F-PFTC and F-AFTC schemes can track exactly an ASV to the desired trajectory. Comprehensive simulations and comparisons conducted on CyberShip II demonstrate the effectiveness and superiority of the proposed schemes.
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2019.05.016