Integral Sliding Mode Output Feedback Control for Unmanned Marine Vehicles Using T–S Fuzzy Model with Unknown Premise Variables and Actuator Faults

Abstract

This paper addresses integral sliding mode output feedback fault-tolerant control (FTC) of unmanned marine vessels (UMVs) with unknown premise variables and actuator faults. Due to the complexity of the marine environment, the presence of uncertainties in the yaw angle renders the premise variables in the Takagi–Sugeno (T–S) fuzzy model of UMVs unknown. Consequently, traditional integral sliding mode techniques become infeasible. To address this issue, a control strategy combining integral sliding mode based on output feedback with a compensator utilizing switching mechanisms is proposed. First, a radial basis function neural network is used to approximate the nonlinear terms in the UMV T–S fuzzy model. In addition, an integral sliding mode surface is constructed based on fault estimation information and membership function estimation. On this basis, an FTC scheme based on integral sliding mode output feedback is developed to ensure that the UMV system is asymptotically stable and satisfies the prescribed H∞ performance index. Finally, simulation results are provided to demonstrate the effectiveness of the presented control strategy.