Finite-Time Trajectory Tracking Fault-Tolerant Control for Surface Vessel Based on Time-Varying Sliding Mode
Finite-Time Trajectory Tracking Fault-Tolerant Control for Surface Vessel Based on Time-Varying Sliding Mode
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DOI：
10.1109/access.2017.2783319
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发表时间：
2018
期刊：
影响因子：
3.9
通讯作者：
Mingyu Fu;Mingyang Li;W. Xie
中科院分区：
文献类型：
--
作者：
Mingyu Fu;Mingyang Li;W. Xie
本文研究了在参数不确定性、外部干扰和推力器故障情况下水面舰艇的轨迹跟踪控制问题。将径向基函数神经网络和自适应控制技术结合到滑模控制中，提出了一种新的鲁棒容错跟踪控制器。结果表明，所设计的控制器不仅对波浪和洋流引起的环境干扰具有鲁棒性，而且能够确保水面船舶跟踪所需的轨迹，而无需求助于任何惯性参数的知识，尽管存在推力器故障。特别地，利用一种新的时变滑模流形，证明了跟踪误差在有限时间内收敛到零，其值可由设计者根据使命要求预先设定.数值算例验证了该控制算法的有效性。
This paper addresses the problem of trajectory tracking control of a surface vessel subject to parametric uncertainties, external disturbances, and thruster faults. A novel robust fault-tolerant tracking controller is developed by incorporating the radial basis function neural network and an adaptive control technique into the sliding mode control. It is shown that the designed controller is not only robust against environmental disturbances induced by waves and ocean currents, but also able to ensure that the surface vessel tracks the desired trajectory, without resorting to any knowledge of inertia parameters and despite the presence of thruster faults. In particular, exploiting a novel time-varying sliding mode manifold, the tracking errors are proved to converge to zero within a finite time, whose value can be pre-assigned by the designers according to the mission requirements. Numerical examples are carried out to testify the effectiveness of the proposed control algorithm.