Output Limited Ship Course Switching Fault Tolerant Control with Prescribed Performance
Aiming at the problems of ship heading control with limited ship output,uncertainty of actuator failure and unknown ocean disturbance,an adaptive fault-tolerant control scheme based on the switching strategy is proposed.The logarithmic barrier Lyapunov is used to constrain heading error and constrain state output to a limited range.Combined with the prescribed performance theory and backstepping method,healthy actuators are used as a backup for ship control systems with uncertain parameters and actuator failures.By designing a set of monitoring func-tions to monitor the dynamic range of the heading error,the ship heading controller can be switched from the faulty ac-tuator to the healthy one when the actuator is faulty and the failure mode is unknown.Simulation experiments verify the effectiveness of the algorithm proposed in this paper.
Prescribed performanceHeading controlOutput limitedFault tolerant control
NETL
NSTL
万方数据
维普
