Adaptive fuzzy optimal output-feedback fault-tolerant control for the USV system with intermittent actuator faults

IF 4.6 2区 工程技术 Q1 ENGINEERING, CIVIL
Jiaming Zhang , Wenjun Zhang , C.L. Philip Chen , Shaocheng Tong
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引用次数: 0

Abstract

This paper presents a novel fuzzy optimal output-feedback fault-tolerant control (FTC) method for uncertain nonlinear unmanned surface vehicle (USV) systems, which are subject to intermittent actuator failures and unmeasured states. The proposed optimal controller is composed of a fuzzy feedforward fault-tolerant output-feedback controller and a fuzzy error feedback optimal controller. The fuzzy feedforward fault-tolerant output-feedback controller is designed by using the fuzzy state observer and backstepping control design technique. The fuzzy optimal feedback controller is given by adopting adaptive dynamic programming (ADP) theory. It is proven that the presented fuzzy optimal FTC scheme is able to ensure that the USV system is uniformly ultimately bounded (UUB), and the optimal control performance is achieved. The validity is confirmed by computer simulation results.
带有执行器间歇故障的USV系统的自适应模糊最优输出反馈容错控制
针对不确定非线性无人水面车辆(USV)系统存在执行器间歇性失效和状态不可测的问题,提出了一种新的模糊最优输出反馈容错控制方法。该最优控制器由模糊前馈容错输出反馈控制器和模糊误差反馈最优控制器组成。采用模糊状态观测器和反步控制设计技术,设计了模糊前馈容错输出反馈控制器。采用自适应动态规划(ADP)理论给出了模糊最优反馈控制器。实验证明,所提出的模糊最优FTC方案能够保证USV系统是一致最终有界的,并能达到最优控制性能。计算机仿真结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Ocean Engineering
Ocean Engineering 工程技术-工程:大洋
CiteScore
7.30
自引率
34.00%
发文量
2379
审稿时长
8.1 months
期刊介绍: Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.
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