Abstract
This study focuses on the network-based fault estimation and fault-tolerant controller designing for an unmanned surface vehicle submit to actuator faults, along with transmission delays, packet dropouts and packet disordering in the communication network channels between sampler and observer, and between controller and actuator. Compared with manned surface vehicles, unmanned surface vehicles in the network bring certain competitive superiorities as well as challenges. By using an intermediate variable, an observer is devised in network environments to estimate the states and actuator faults of the unmanned surface vehicle simultaneously. A sufficient condition is introduced and proved for the fault observer being uniformly ultimately bounded. Based on the fault observer, a fault-tolerant controller is proposed, which can ensure that the network-based closed-loop control system is uniformly ultimately bounded theoretically. Theoretical analysis and simulation results verify the performance of the fault observer and fault-tolerant control in network environments for an unmanned surface vehicle.
Highlights
Marine vehicles have been widely utilized in military operations, hydrology research, the exploration and construction of oil and gas, marine data collection, transportation, and fishing
Literature [16] proposed that the location and coursed control of marine vehicles and marine drilling platform had been solved by using Kalman filter method
PERFORMANCE ANALYSIS AND DISCUSSION we propose the performance of presented fault estimation and suppressing for the network-based systems (2)
Summary
Marine vehicles have been widely utilized in military operations, hydrology research, the exploration and construction of oil and gas, marine data collection, transportation, and fishing. Z. Zhou et al.: Fault Diagnosis Observer and Fault-Tolerant Control Design for USVs in Network Environments. We construct a network-based system model that considers both sampler-to-observer and controller-toactuator package loss, package disordering, and transmission delays. Under the mode of completely autonomous operation, some problems are accompanied by characteristics of completely unmanned and autonomous operation of USVs. A robust controller for ship dynamics and offshore drilling platform positioning had been designed in [26]. The main contributions of this study are mentioned below: An observer is designed to estimate the actuator faults and states simultaneously for the USV with transmission delays, packet disordering, and package loss in the communication network channels between sampler and observer, and between controller and actuator.
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