首页|Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

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 path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external dis-turbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influ-ence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator effi-ciency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with exist-ing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.

Actuator faultsautonomous surface vehicle(ASVs)improved artificial potential functionnonlinear state observerobsta-cle avoidance

Li-Ying Hao、Gege Dong、Tieshan Li、Zhouhua Peng

展开 >

School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China

School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731

Navigation College, Dalian Maritime University, Dalian 116026

Yangtze Delta Region Institute (Huzhou), Huzhou 313001, China

展开 >

国家自然科学基金国家自然科学基金国家自然科学基金国家自然科学基金Dalian Outstanding Young Talents ProgramTopnotch Young Talents Program of ChinaLiaoning Revitalization Talents Program

519390015217129251979020619760332022RJ0536261402XLYC20-07188

2024

10.1109/JAS.2023.123675

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(4)
  • 47