Dynamic event-triggered prescribed performance disturbance rejection fault-tolerant trajectory tracking for surface vehicles

In this article, a dynamic event-triggered prescribed performance disturbance rejection fault-tolerant scheme is designed for the trajectory tracking of surface vehicles. The external time-varying disturbances and loss-of-effectiveness thruster faults are addressed separately. By constructing the separate observers, the external time-varying disturbances and the loss-of-effectiveness thruster faults are on-line estimated, respectively. The prescribed performance and error transformation functions enable the transient and steady-state performance to settle within pre-specified function values. The dynamic event-triggering is introduced so that commanded control signals are temporarily kept under predefined conditions to reduce wear and tear on the thrusters especially in harsh environmental condition. With the aid of the vectorial backstepping technique, the final control law is derived such that the position and heading of vehicles can be forced to track the reference trajectories in disturbance and fault conditions. Application example on a 1:70 scaled model vessel in the different cases clarify the scheme.

• Record URL:
  • https://doi.org/10.1016/j.oceaneng.2024.119063
• Record URL:
  • http://www.sciencedirect.com/science/article/pii/S0029801824024016
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00298018
• Supplemental Notes:
  • © 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies. Abstract reprinted with permission of Elsevier.
• Authors:
  • Hu, Xin
  • 0000-0001-9043-9639
  • Gao, Xiaoyang
  • Li, Tieshan
  • Long, Yue
• Publication Date: 2024-11-15

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: 119063
• Serial:
  • Ocean Engineering
  • Volume: 312
  • Issue Number: 0
  • Publisher: Pergamon
  • ISSN: 0029-8018
  • EISSN: 1873-5258
  • Serial URL: http://www.sciencedirect.com/science/journal/00298018

Subject/Index Terms

• TRT Terms: Fault tolerance; Ships; Tracking systems; Vehicle trajectories
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01931413
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 19 2024 9:17AM