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

作　　者：Xuerao Wang Qingling Wang Yanxu Su Yuncheng Ouyang Changyin Sun 

机构地区：[1]the School of Artificial Intelligence,the Engineering Research Center of Autonomous Unmanned System Technology,and the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology,Ministry of Education,Anhui University,Hefei 230601,China [2]the School of Automation,Southeast University,Nanjing 210096,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第4期907-918,共12页自动化学报（英文版）

基　　金：the National Natural Science Foundation of China(62303012,62236002,61911004,62303008)。

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.

关 键 词：Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP212[交通运输工程—船舶与海洋工程] TP273[自动化与计算机技术—检测技术与自动化装置]