IEEE Transactions on Intelligent Vehicles,
Год журнала:
2023,
Номер
9(1), С. 372 - 382
Опубликована: Ноя. 15, 2023
This
paper
is
concerned
with
the
observer-based
fuzzy
adaptive
fault-tolerant
control
problem
for
nonlinear
steering
(NSC)
system
of
unmanned
surface
vehicle
(USV)
unmeasurable
states,
sideslip
angle,
and
machine
fault.
To
facilitate
controller
design,
Takagi-Sugeno
(T-S)
model
used
to
deal
NSC
system,
modeling
error
analysis
(MEA)
conducted
T-S
using
real
course
tracking
data.
By
introducing
a
pre-filter,
large
heading
change
rate
can
be
avoided
robustness
improved.
Then,
observer
(FAO)
developed,
based
on
which
an
mechanism
given
estimate
fault
signals
simultaneously.
Furthermore,
utilizing
online
estimation
information
provided
by
FAO,
FAO-based
designed
mitigate
effects
angle
Finally,
simulation
examples
comparison
experiment
"Qingshan"
USV
demonstrate
apparent
performance
developed
method.
IEEE Transactions on Vehicular Technology,
Год журнала:
2024,
Номер
73(7), С. 9441 - 9452
Опубликована: Фев. 21, 2024
This
paper
explores
the
fault
estimation
and
bumpless
transfer
fault-tolerant
control
issues
for
a
class
of
mass-switched
unmanned
marine
vehicles
(UMVs)
with
discontinuous
sensor
faults.
Firstly,
dynamic
positioning
systems
UMVs
are
modeled
as
switched
in
continuous-time
domain
to
accurately
capture
their
behavior.
Secondly,
new
learning-based
observer
is
proposed
estimate
faults
presented
UMVs.
Thirdly,
on
basis
estimated
information,
interpolation-function-dependent
output
feedback
controller
developed
offset
avoid
bumps.
Finally,
advantages
validity
strategies
verified
by
practical
example
involving
equipped
detector.
IEEE Transactions on Vehicular Technology,
Год журнала:
2023,
Номер
73(4), С. 4858 - 4869
Опубликована: Ноя. 3, 2023
This
article
delves
into
the
investigation
of
attitude
control
for
a
tailless
flying-wing
unmanned
aerial
vehicle
(UAV),
considering
various
challenges
such
as
limited
communication
resources,
actuator
faults,
external
disturbances,
and
system
uncertainties.
Firstly,
an
improved
event-triggered
mechanism
is
developed,
which
significantly
reduces
computation
resources.
Subsequently,
adaptive
fuzzy
fixed-time
fault-tolerant
scheme
presented
by
combining
backstepping
design.
The
not
only
mitigates
chattering
but
also
eliminates
potential
singularity
issues
that
may
arise
during
recursive
It
rigorously
demonstrated
designed
controller
guarantees
all
states
closed-loop
remain
bounded
will
converge
to
small
neighborhood
adjacent
origin
in
fixed
time,
regardless
initial
conditions,
while
excluding
Zeno
behavior.
Finally,
effectiveness
superiority
proposed
methodology
are
shown
through
comparative
numerical
simulations.
IEEE Transactions on Intelligent Vehicles,
Год журнала:
2023,
Номер
9(1), С. 372 - 382
Опубликована: Ноя. 15, 2023
This
paper
is
concerned
with
the
observer-based
fuzzy
adaptive
fault-tolerant
control
problem
for
nonlinear
steering
(NSC)
system
of
unmanned
surface
vehicle
(USV)
unmeasurable
states,
sideslip
angle,
and
machine
fault.
To
facilitate
controller
design,
Takagi-Sugeno
(T-S)
model
used
to
deal
NSC
system,
modeling
error
analysis
(MEA)
conducted
T-S
using
real
course
tracking
data.
By
introducing
a
pre-filter,
large
heading
change
rate
can
be
avoided
robustness
improved.
Then,
observer
(FAO)
developed,
based
on
which
an
mechanism
given
estimate
fault
signals
simultaneously.
Furthermore,
utilizing
online
estimation
information
provided
by
FAO,
FAO-based
designed
mitigate
effects
angle
Finally,
simulation
examples
comparison
experiment
"Qingshan"
USV
demonstrate
apparent
performance
developed
method.
