Integral Sliding Mode-Based Fault-Tolerant Control for Dynamic Positioning of Unmanned Marine Vehicles Based on a T-S Fuzzy Model

Abstract

This paper investigates a fault-tolerant control problem for the dynamic positioning of unmanned marine vehicles based on a Takagi–Sugeno (T-S) fuzzy model using an integral sliding mode scheme. First, the T-S fuzzy model of an unmanned marine vehicle is established by taking the yaw angle variable range into account. An integral sliding mode control scheme combined with the H∞ performance index is then developed to attenuate the initial influence of thruster faults and ocean disturbances. The unknown nonlinear function is approximated using a fuzzy logic system based on a representation of marine data, which provides a good tradeoff between resolution of the unknown nonlinear term approximation and computational complexity for marine engineering by adjusting the number of fuzzy logic system rules. In addition, the fault estimation information is utilized to design the sliding mode surface on the basis of an adaptive mechanism and a matrix full rank decomposition technique, which reduces conservatism. The validity of the proposed approach is finally demonstrated by an analysis of simulation results using a typical floating production vessel model.