首页|Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation
Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
国家科技期刊平台
NETL
NSTL
万方数据
This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compen-sated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.
Asymptotic stabilityfault-tolerant controlinput saturationrobust integral of the sign of errorunmanned underwa-ter vehicle
Xuerao Wang、Qingling Wang、Yanxu Su、Yuncheng Ouyang、Changyin Sun
展开 >
School of Artificial Intelligence, the Engineering Research Center of Autonomous Unmanned System Technology, and the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology, Ministry of Education, Anhui University, Hefei 230601, China
School of Automation, Southeast University, Nanjing 210096, China
国家科技期刊平台
NSTL
万方数据
