Fuzzy Adaptive Fault-Tolerant Formation Control for USVs with Intermittent Actuator Faults

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.