Fault-tolerant trajectory tracking control for unmanned surface vehicle with actuator faults based on a fast fixed-time system

Abstract

In this paper, an observer-based fixed-time tracking control strategy is presented for unmanned surface vehicles (USVs) with model uncertainties, external disturbances, and actuator faults. Firstly, as the theory foundation, a fast fixed-time stable system that has a shorter settling time than the existing systems is proposed. According to this system and the motion characteristics of an USV, a fast fixed-time disturbance observer is developed to obtain the unknown effects caused by lumped uncertainties. By combining the estimated knowledge and a nonsingular fast fixed-time terminal sliding surface, a robust fast fixed-time trajectory tracking controller is designed for the USV. According to Lyapunov stability theory, the fast fixed-time convergence of the proposed controller is proved. Finally, the simulation results demonstrate the effectiveness of the developed control scheme.