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Fault Tolerant Control for an Unmanned Surface Vessel Based on Integral Sliding Mode State Feedback Control

  • Control Theory and Applications
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Abstract

In the complex ocean environment, the thruster faults may affect the stability of unmanned surface vessel (USV). So it is really important to study the problem of USV fault tolerant control. Under the framework of integral sliding mode technology, this work presents a fault tolerant control problem for USV. First, a comprehensive thruster fault model with total faults, partial faults, hard-over faults, bias faults, and time-varying stuck faults, is established. Then, an integral sliding mode surface and sliding mode controller with fault estimation are designed. Through LMI technology and Lyapunov stability theory, the stability of sliding mode has been proved. Compared with the existing results, the oscillation amplitudes of yaw angle and yaw velocity can be suppressed from the every beginning. Finally, simulation results demonstrate that the proposed integral sliding mode fault tolerant control algorithm is effective.

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Authors and Affiliations

  1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning, 116026, China

    **u-Ning Yu & Li-Ying Hao

  2. School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, 116024, China

    **ao-Lei Wang

Authors
  1. **u-Ning Yu
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  2. Li-Ying Hao
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  3. **ao-Lei Wang
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Corresponding author

Correspondence to Li-Ying Hao.

Additional information

This work was supported by the National Natural Science Foundation of China (Grant Nos. 51939001, 52171292), the Fundamental Research Funds for the Central Universities (Grant No.3132022101).

**u-Ning Yu was born in Dalian, China. She received her B.S. degree in automation from Liaoning Petrochemical University, Fushun, China, in 2019. Her current research interests include integral sliding mode control and fault-tolerant control.

Li-Ying Hao was born in Jilin, China. She received her M.S. and Ph.D. degrees in control theory and control engineering from Northeastern University, Shenyang, China, in 2008 and 2013, respectively. From 2013 to 2017, she was with Dalian Ocean University, Dalian, China. Since 2017, she has been an Associate Professor with the Department of Automation, Dalian Maritime University, Dalian. Her current research interests include robust fault tolerant control, sliding mode control, and deep learning with an emphasis on applications in marine vehicles.

**ao-Lei Wang received his B.S. degree in automation, and his M.S. and Ph.D. degrees in control theory and control engineering from Northeastern University, Shenyang, China, in 2014, 2016, and 2020, respectively. He is currently an Associate Professor with the School of Control Science and Engineering, Dalian University of Technology, Dalian, China. His current research interests include fuzzy control, robust control, and fault diagnosis.

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Yu, XN., Hao, LY. & Wang, XL. Fault Tolerant Control for an Unmanned Surface Vessel Based on Integral Sliding Mode State Feedback Control. Int. J. Control Autom. Syst. 20, 2514–2522 (2022). https://doi.org/10.1007/s12555-021-0526-x

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  • DOI: https://doi.org/10.1007/s12555-021-0526-x

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