Integral Sliding Mode-Based Fault-Tolerant Control for Dynamic Positioning of Unmanned Marine Vehicles Based on a T-S Fuzzy Model

Author:

Wang Yang1ORCID,Hao Li-Ying2ORCID,Li Tieshan34,Chen C. L. Philip5

Affiliation:

1. College of Navigation, Dalian Maritime University, Dalian 116026, China

2. Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China

3. College of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

4. Yangtze Delta Region Institute, University of Electronic Science and Technology of China, Huzhou 313000, China

5. College of Computer Science and Engineering, South China University of Technology, Guangzhou 510006, China

Abstract

This paper investigates a fault-tolerant control problem for the dynamic positioning of unmanned marine vehicles based on a Takagi–Sugeno (T-S) fuzzy model using an integral sliding mode scheme. First, the T-S fuzzy model of an unmanned marine vehicle is established by taking the yaw angle variable range into account. An integral sliding mode control scheme combined with the H∞ performance index is then developed to attenuate the initial influence of thruster faults and ocean disturbances. The unknown nonlinear function is approximated using a fuzzy logic system based on a representation of marine data, which provides a good tradeoff between resolution of the unknown nonlinear term approximation and computational complexity for marine engineering by adjusting the number of fuzzy logic system rules. In addition, the fault estimation information is utilized to design the sliding mode surface on the basis of an adaptive mechanism and a matrix full rank decomposition technique, which reduces conservatism. The validity of the proposed approach is finally demonstrated by an analysis of simulation results using a typical floating production vessel model.

Funder

LiaoNing Revitalization Talents Program

National Natural Science Foundation of China

Dalian Outstanding Young Talents Program

Science and Technology Development Fund, Macau SAR

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

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