Discrete Event-Triggered Fault-Tolerant Control of Underwater Vehicles Based on Takagi–Sugeno Fuzzy Model

Abstract

This article investigates the fault estimation and fault-tolerant control problem for underwater vehicles with the Takagi–Sugeno (T–S) fuzzy model. In order to deal with the disturbance of complex ocean environment, a stable fuzzy controller for underwater vehicle is proposed to realize efficient operation, which is on the basis of T–S fuzzy model with pitch angle membership function. Meanwhile, to reduce the waste of communication resources, a novel discrete event-triggered control scheme is proposed to use multiple historical sampled data to determine the next release instant. The discrete event-triggered fault-tolerant controller compensates for the influence of system faults by using state estimators and fault estimators. It is noted that the canonical Bessel–Legendre inequality and delay-dependent canonical orthogonal Legendre polynomials play an important role in dealing with the asymptotical stability of the T–S fuzzy delayed model with an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> performance. Finally, a simulation example is carried out to show the validity of the presented theorem.