Non-fragile control associated with exponential stability for unmanned surface vessels with the rudder failure and dynamic event-trigger

Abstract

In this paper, non-fragile control associated with exponential stability for unmanned surface vessels(USVs) with the rudder failure and dynamic event-trigger is presented. To begin with, the event trigger and switch system are introduced, taking into account the distribution characteristics of faults and resource efficiency, and a class of independence-distributed random failure models are built. Furthermore, acknowledging the practical challenges associated with parameter uncertainties, USVs are used as uncertain Nomoto model(NM) and the rudder system is described with uncertain second-order underdamped system(UDS). Then, in the presence of dynamic disturbances, an appropriate non-fragile controller is proposed to demonstrate that the closed-loop system states can be exponentially stabilized through the application of the Lyapunov–Krasovskii functions(LKF) and Linear Matrix Inequalities (LMIs). Lastly, the simulation results confirmed that control design methods proposed are effective.