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Volume 11 Issue 4
Apr.  2024

IEEE/CAA Journal of Automatica Sinica

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X. Wang, Q. Wang, Y. Su, Y.  Ouyang, and  C. Sun,  “Adaptive sensor-fault tolerant control of unmanned underwater vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 907–918, Apr. 2024. doi: 10.1109/JAS.2023.123837
Citation: X. Wang, Q. Wang, Y. Su, Y.  Ouyang, and  C. Sun,  “Adaptive sensor-fault tolerant control of unmanned underwater vehicles with input saturation,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 907–918, Apr. 2024. doi: 10.1109/JAS.2023.123837

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

doi: 10.1109/JAS.2023.123837
Funds:  This work was supported in part by the National Natural Science Foundation of China (62303012, 62236002, 61911004, 62303008)
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  • 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 compensated 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.

     

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    Highlights

    • The proposed FTC in this paper can deal with both additive and multiplicative types of sensor faults, which is different from existing results that only consider one or two types of sensor faults. Then, an online estimator is given to estimate the sensor faults without traditional fault detection and isolation module
    • The nonlinear dynamic knowledge of the UUV or the sensor fault information is not required in this paper. The increased uncertainty makes it more challenging to deal with sensor faults, but enhances the availability of the developed FTC scheme in practical implementation
    • The asymptotic tracking performance is guaranteed with the proposed RISE-based active FTC scheme, which is different from the existing UUV control method。To the best of our knowledge, this is the first asymptotic tracking result for UUVs that are capable of tolerating various sensor faults

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