Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

Abstract

This paper focuses on a fixed-time prescribed performance-based Fault-tolerant controller that guarantees the global performance for the Trajectory tracking control of the air cushion vehicle (ACV). In the presence of faults, time-varying parameters and environmental disturbances, the proposed control system in this paper has good robustness and control performance. Firstly, an integrated observer for disturbances and faults is proposed to suppress all uncertainties in the system. Then a novel prescribed performance function is designed that does not need to be constrained by the initial value of the target errors while ensuring that it has fixed-time convergence performance. Global prescribed performance control has the advantage of separating the error initial conditions from the prescribed performance function. At the same time, combined with the global sliding mode control method, the fast convergence and robustness of the whole system are guaranteed. Finally, the simulation results verify the effectiveness of the control system.