Actuator fault-tolerant mixed passivity and H∞ control for autonomous marine surface vehicles: A sampled-data approach

Abstract

In this article, the problem of fault-tolerant mixed passivity and $H_{\infty }$ control for autonomous marine surface vehicles (AMSVs) with actuator faults is investigated using a sampled data approach. A mixed passivity and $H_{\infty }$ control with sampled-data for three AMSVs with actuator faults or bias failures, or both, is investigated for the first time in an AMSV system. First, a steering machine (actuator) bias failure and an actuator fault in the presence of a ship course-keeping autopilot (SCKA), which causes the vessel to deviate from the desired heading, especially in course-keeping, are investigated. Second, the dynamic positioning of the ship (DPS) is investigated in the presence of an actuator fault. By defining a suitable Lyapunov–Krasovskii functional and using Jensen’s inequality, linear matrix inequality (LMI)-based mixed passivity and $H_{\infty }$ performance analysis and controller design are presented. The designed sampled-data-based fault-tolerant controllers can guarantee asymptotic stability and tracking of prescribed reference outputs while addressing actuator faults or bias failures, or both, and rejecting disturbances. Finally, three numerical examples are given to prove the validity of the proposed approaches.