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Fault-tolerant Compensation Control Based on Sliding Mode Technique of Unmanned Marine Vehicles Subject to Unknown Persistent Ocean Disturbances

  • Control Theory and Applications
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Abstract

This paper is concerned with a robust adaptive fault-tolerant compensation control problem based on sliding mode technique for an unmanned marine vehicle (UMV) with thruster faults and unknown persistent ocean disturbances. A general thruster fault model including partial, total and time-varying stuck is built for the first time. Once the thrusters occur unknown and time-varying stuck faults, the mission of the UMV may be canceled. To avoid it, full-rank decomposition of the thruster configuration matrix is made, based on which a linear sliding surface is constructed and adaptive mechanism is incorporated into sliding mode reaching law. Without the prior knowledge of ocean external disturbances, sliding mode stability is analyzed and a sufficient stability condition through H∞ technique is given. Further the nonlinear unit vector gain of the adaptive sliding mode fault-tolerant compensation controller is designed to ensure the UMV system errors converge to zero independent of fault detection and diagnosis (FDD) mechanism. Finally, the comparison simulation results through a typical floating production ship are shown to testify the feasibility of the presented method.

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Author information

Authors and Affiliations

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

    Li-Ying Hao, He Zhang & Wei Yue

  2. College of Information Science and Technology, Dalian Maritime University, Dalian, Liaoning, 116026, China

    Hui Li

Authors
  1. Li-Ying Hao
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Corresponding author

Correspondence to Wei Yue.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Editor Kyoung Kwan Ahn. This work is supported by the National Natural Science Foundation of China (Grant Nos. 61503055, 51939001, 61976033, 61602077), Dalian Innovative Support Scheme for High-level Talents (2017RQ072), the Science and Technology Innovation Funds of Dalian (Grant Nos. 2019J12GX040, 2018J11CY022), the Fundamental Research Funds for the Central University (3132019104, 3132019355), Liaoning Natural Science Foundation Project (Grant Nos. 20180540064, 2019-KF-03-09), and Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission (Grant No. MD-IPAC-201901).

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.

He Zhang received her B.S. degree in electrical engineering and automation from the Harbin University of Science and Technology, Harbin, China, in 2018. Her current research interests include sliding mode control and fault-tolerant control.

Wei Yue received his B.S., M.E., and Ph.D. degrees in control theory and control engineering from Dalian Maritime University, Dalian, China, in 2006, 2008, and 2011, respectively. His research interests include wireless communications and intelligent vehicular platoon control.

Hui Li received his B.S. and Ph.D. degrees in computer science and technology from Northeastern University, Shenyang, China, in 2008 and 2013, respectively. In 2013, he was a Lecturer of the Information Science and Technology College, Dalian Maritime University, Dalian, China, where he has been an Associate Professor since 2017. His current research interests include crowdsourcing, data mining, and complex networks control.

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Hao, LY., Zhang, H., Yue, W. et al. Fault-tolerant Compensation Control Based on Sliding Mode Technique of Unmanned Marine Vehicles Subject to Unknown Persistent Ocean Disturbances. Int. J. Control Autom. Syst. 18, 739–752 (2020). https://doi.org/10.1007/s12555-019-0112-7

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