执行机构
控制理论(社会学)
容错
计算机科学
模糊逻辑
断层(地质)
控制(管理)
控制工程
工程类
人工智能
地质学
分布式计算
地震学
作者
Kewen Li,Kuo-Tai Feng,Yongming Li
出处
期刊:IEEE transactions on intelligent vehicles
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:: 1-10
标识
DOI:10.1109/tiv.2024.3358351
摘要
This paper addresses the problem of fuzzy adaptive formation tracking control for the underactuated unmanned surface vehicles (USVs) with multiple constraints and intermittent actuator faults. Each vehicle is affected by the unknown nonlinear dynamics and external time-varying disturbance, the fuzzy logic systems (FLSs) are applied to approximate them. With the help of the prescribed performance control (PPC) technique, the collision avoidance and connectivity preservation among neighboring vehicles can be achieved by constructing the constraint conditions of formation tracking errors. Then, combining the dynamic surface control (DSC) and PPC techniques, a novel robust adaptive fuzzy performance constraint fault-tolerant control (FTC) strategy is presented, which demonstrates all the signals of the controlled system are uniformly ultimately bounded (UUB) by selecting appropriate design parameters. Moreover, the issue of intermittent actuator faults can also be solved. The effectiveness of the proposed control strategy and theory can be verified through the simulation results.
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