Actuator fault‐tolerant control of ocean surface vessels with input saturation

In this paper, an actuator robust fault‐tolerant control is proposed for ocean surface vessels with parametric uncertainties and unknown disturbances. Using the backstepping technique and Lyapunov synthesis method, the adaptive tracking control is first developed by incorporating the actuator configuration matrix and considering actuator saturation constraints. The changeable actuator configuration matrix caused by rotatable propulsion devices is considered. Next, the actuator fault‐tolerant control is developed for the case when faults occur in propulsion devices of the ocean surface vessel. Rigorous stability analysis is carried out to show that the proposed fault‐tolerant control can guarantee the stability of the closed‐loop system under certain actuator failure. Finally, simulation studies are given to illustrate the effectiveness of the proposed adaptive tracking control and fault‐tolerant control. Copyright © 2015 John Wiley & Sons, Ltd.

[1]  Job van Amerongen,et al.  Adaptive steering of ships - A model reference approach , 1982, Autom..

[2]  Asgeir J. Sørensen,et al.  Design of a dynamic positioning system using model-based control , 1995 .

[3]  Byung Kook Kim,et al.  Robust and reliable H∞ control for linear systems with parameter uncertainty and actuator failure , 1996, Autom..

[4]  Yao Zhang,et al.  A neural network approach to ship track-keeping control , 1996 .

[5]  Trygve Lauvdal,et al.  Robust adaptive ship autopilot with wave filter and integral action , 1998 .

[6]  Minho Lee,et al.  A robust neural controller for underwater robot manipulators , 2000, IEEE Trans. Neural Networks Learn. Syst..

[7]  Shuzhi Sam Ge,et al.  Adaptive neural network control for strict-feedback nonlinear systems using backstepping design , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[8]  Xiaoli Ma,et al.  Adaptive state feedback and tracking control of systems with actuator failures , 2001, IEEE Trans. Autom. Control..

[9]  Suresh M. Joshi,et al.  On matching conditions for adaptive state tracking control of systems with actuator failures , 2002, IEEE Trans. Autom. Control..

[10]  Shuzhi Sam Ge,et al.  Direct adaptive NN control of a class of nonlinear systems , 2002, IEEE Trans. Neural Networks.

[11]  Tor Arne Johansen,et al.  Optimal constrained control allocation in marine surface vessels with rudders , 2003 .

[12]  Thor I. Fossen,et al.  Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship , 2003, IEEE Trans. Control. Syst. Technol..

[13]  Zongli Lin,et al.  Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation , 2003, IEEE Trans. Fuzzy Syst..

[14]  F. T. Mrad,et al.  Composite adaptive control of astable UUVs , 2003 .

[15]  Shyh-Leh Chen,et al.  Fuzzy Sliding Mode Control For Ship Roll Stabilization , 2003 .

[16]  C. Wen,et al.  Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlash-like hysteresis , 2004, IEEE Transactions on Automatic Control.

[17]  Kristin Ytterstad Pettersen,et al.  Global uniform asymptotic stabilization of an underactuated surface vessel: experimental results , 2004, IEEE Transactions on Control Systems Technology.

[18]  Asgeir J. Sørensen,et al.  A reliability-based control algorithm for dynamic positioning of floating vessels , 2004 .

[19]  Rastko R. Selmic,et al.  Neural network control of a class of nonlinear systems with actuator saturation , 2006, IEEE Transactions on Neural Networks.

[20]  Shuzhi Sam Ge,et al.  Adaptive neural control of uncertain MIMO nonlinear systems , 2004, IEEE Transactions on Neural Networks.

[21]  Khac Duc Do,et al.  State- and output-feedback robust path-following controllers for underactuated ships using Serret–Frenet frame , 2004 .

[22]  Marios M. Polycarpou,et al.  Robust on-line approximation control of uncertain nonlinear systems subject to constraints , 2004, Proceedings. Ninth IEEE International Conference on Engineering of Complex Computer Systems.

[23]  Yisheng Zhong,et al.  Globally stable adaptive system design for minimum phase SISO plants with input saturation , 2005, Autom..

[24]  T. Johansen,et al.  Efficient Optimal Constrained Control Allocation via Multiparametric Programming , 2005 .

[25]  Gang Tao,et al.  Virtual Grouping based adaptive actuator failure compensation for MIMO nonlinear systems , 2005, IEEE Transactions on Automatic Control.

[26]  Keng Peng Tee,et al.  Control of fully actuated ocean surface vessels using a class of feedforward approximators , 2006, IEEE Transactions on Control Systems Technology.

[27]  Nabil Derbel,et al.  Asymptotic Backstepping Stabilization of an Underactuated Surface Vessel , 2006, IEEE Transactions on Control Systems Technology.

[28]  Huai-Ning Wu,et al.  Reliable$rm H_infty $Fuzzy Control for Continuous-Time Nonlinear Systems With Actuator Failures , 2006, IEEE Transactions on Fuzzy Systems.

[29]  Thomas Steffen,et al.  Control Reconfiguration After Actuator Failures Using Disturbance Decoupling Methods , 2006, IEEE Transactions on Automatic Control.

[30]  K. D. Do,et al.  Global robust adaptive path following of underactuated ships , 2006, Autom..

[31]  Xidong Tang,et al.  Adaptive actuator failure compensation for nonlinear MIMO systems with an aircraft control application , 2007, Autom..

[32]  Mou Chen,et al.  Backstepping Control for a Class of Uncertain Nonlinear Systems with Neural Network , 2007 .

[33]  Maria Letizia Corradini,et al.  Actuator Failure Identification and Compensation Through Sliding Modes , 2007, IEEE Transactions on Control Systems Technology.

[34]  Yongsheng Zhao,et al.  Adaptive Autopilot Design of Time-Varying Uncertain Ships With Completely Unknown Control Coefficient , 2007, IEEE Journal of Oceanic Engineering.

[35]  Lihua Xie,et al.  Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity , 2008, Autom..

[36]  Shuzhi Sam Ge,et al.  Adaptive dynamic surface control of nonlinear systems with unknown dead zone in pure feedback form , 2008, Autom..

[37]  Halim Alwi,et al.  Fault tolerant control using sliding modes with on-line control allocation , 2008, Autom..

[38]  Asgeir J. Sørensen,et al.  Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments , 2008, IEEE Transactions on Control Systems Technology.

[39]  Keng Peng Tee,et al.  Adaptive Neural Network Control for Helicopters in Vertical Flight , 2008, IEEE Transactions on Control Systems Technology.

[40]  Kenneth R. Muske,et al.  Sliding-Mode Tracking Control of Surface Vessels , 2008, IEEE Transactions on Industrial Electronics.

[41]  Zhijun Li,et al.  Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments , 2010, Autom..

[42]  Licheng Jiao,et al.  Adaptive NN Backstepping Output-Feedback Control for Stochastic Nonlinear Strict-Feedback Systems With Time-Varying Delays , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[43]  Yoo Sang Choo,et al.  Leader-follower formation control of underactuated autonomous underwater vehicles , 2010 .

[44]  Shaocheng Tong,et al.  Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters , 2010, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[45]  Licheng Jiao,et al.  Adaptive Backstepping Fuzzy Control for Nonlinearly Parameterized Systems With Periodic Disturbances , 2010, IEEE Transactions on Fuzzy Systems.

[46]  Kristin Ytterstad Pettersen,et al.  Output Feedback Tracking of Ships , 2011, IEEE Transactions on Control Systems Technology.

[47]  Zhijun Li,et al.  Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays , 2011, 2011 IEEE International Conference on Robotics and Automation.

[48]  Christian Holden,et al.  A Lagrangian approach to nonlinear modeling of anti-roll tanks , 2011 .

[49]  Shaocheng Tong,et al.  Adaptive Neural Output Feedback Tracking Control for a Class of Uncertain Discrete-Time Nonlinear Systems , 2011, IEEE Transactions on Neural Networks.

[50]  Guang-Ren Duan,et al.  Stabilization of linear systems with distributed input delay and input saturation , 2012, Autom..

[51]  Bin Zhou,et al.  Observer based output feedback control of linear systems with input and output delays , 2013, Autom..

[52]  Shuzhi Sam Ge,et al.  Robust Adaptive Position Mooring Control for Marine Vessels , 2013, IEEE Transactions on Control Systems Technology.