Finite-time fault-tolerant trajectory tracking control of an autonomous surface vehicle
Introduction
Due to the remarkable ability to tackle uncertainties and/or external disturbances, the sliding mode control (SMC) approach [1], [2], [3], [4], [5], [6], [7], [8], [9] has been increasingly studied and has been widely applied to various industrial areas including electric vehicles [10], stochastic systems [11], [12], [13], robotic manipulators [14], [15], [16], [17], rigid spacecrafts [18], [19], [20], and marine vehicles and equipments [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32], [33], [34], [35], etc. Note that traditional sliding surfaces can only achieve asymptotic (exponential) convergence. The terminal sliding mode (TSM) surface [36] has been defined to realize finite-time convergence within the sliding surface. However, the TSM dynamics would inevitably suffer from the singularity around the origin. Accordingly, the nonsingular TSM (NTSM) surface [37] has been proposed to overcome the foregoing singularity issue, and has attracted increasing attention in the literature. In [37], the singularity issue associated with TSM-based approaches has been removed, and can facilitate a finite-time control strategy. By virtue of the NTSM approach, a trajectory tracking control scheme for an autonomous surface vessel has been presented in [38], whereby, however, unknowns and disturbances have not been sufficiently addressed.
In order to further deal with external disturbances and/or uncertainties, disturbance observers have been widely incorporated in various manners. In [39], a nonlinear disturbance observer has been proposed to compensate frictions and disturbances, and thereby improving the robustness and reliability using economic control efforts. By virtue of a reduced-order disturbance observer, the trajectory tracking of a rotating shaft has been achieved in [40], whereby precise motion control can be achieved. Unlike aforementioned conventional nonlinear disturbance observers whereby asymptotically/exponentially convergent observation errors are derived, a finite-time disturbance observer (FTDO) has been innovatively proposed in [41] whereby global finite-time stability of the entire FTDO-based control system can be guaranteed.
In addition, under the complex marine environment, a surface vehicle inevitably suffers from unknown external disturbances caused by ocean winds, waves and currents, etc. [42], and thereby leading to great challenges in accurate trajectory tracking control synthesis. In the literature, trajectory tracking control approaches using various intelligent methods including fuzzy logic systems (FLS) [43], [44], [45], neural networks (NN) [46], [47], [48], fuzzy neural networks (FNN) [49], and latest merging self-constructive intelligent approximators [50], [51], [52] have been developed to handle unknown disturbances and/or system uncertainties. It is apparent that foregoing adaptive approximation-based approaches are computationally expensive, and can only achieve asymptotic/exponential convergence. It is well known that, compared to asymptotic and/or exponential approaches, finite-time convergence can contribute to rapid response and stronger robustness to complex unknowns.
A highly autonomous and reliable vehicle system is expected to achieve high-precision tracking control in the presence of external disturbances and even actuator faults. In practice, actuator fault is a most typical case of input constraints appearing in an autonomous surface vehicle (ASV) system, and probably gives rise to terrible performance. Therefore, it is meaningful to solve the fault-tolerant control (FTC) problem of ASV systems with actuator faults in addition to complex unknowns. In the literature, the existing FTC approaches can be classified into two categories, i.e., passive and active manners. Within the passive FTC (PFTC) framework, partial knowledge of the fault is usually required to be exactly known in advance while remaining unknowns pertaining to the fault are capsulated as uncertainties and/or disturbances. In this context, a robust-like controller is synthesized to compensate various faults using preservative tolerance [53], [54], [55]. Alternatively, an active FTC (AFTC) approach reconfigures the controller by virtue of a fault estimator (FE) which can online identify fault information [56], [57], [58], and thereby, to some extent, achieving superior performance in terms of fault detection and compensation.
Note that both traditional PFTC and AFTC approaches with asymptotic convergence are actually fault-sensitive since exact tracking performance cannot be obtained within a finite time. Motivated by above observations, in this paper, finite-time versions of PFTC and AFTC schemes for an ASV with actuator faults and disturbances are developed by incorporating finite-time fault estimator (FFE) into integral sliding mode (ISM) technique so as to accommodate both actuator faults and external disturbances. Firstly, by virtue of the ISM technique, a finite-time PFTC (F-PFTC) scheme is developed by incorporating a robust compensator which is derived to exploit partially known knowledge on faults and disturbances. Aiming to relax the preservation pertaining to the F-PFTC scheme that partial fault information is required to be known a priori, the finite-time AFTC (F-AFTC) scheme combining with the ISM manifold and the FFE is further created to enhance abilities of fault detection and compensation. Eventually, within the proposed F-PFTC and F-AFTC schemes, both kinematics and dynamics tracking errors can be rendered globally finite-time stable, under actuator faults and unknown disturbances. More interestingly, rigorous analysis shows that, by virtue of the FFE, the F-AFTC scheme can exactly detect, isolate, and accommodate faults together with disturbances without using any a priori knowledge.
The rest of this paper is organized as follows. In Section 2, trajectory tracking problem of an ASV with actuator faults and disturbances is formulated. The F-PFTC and F-AFTC schemes together with stability analysis are presented in Section 3. Simulation studies and discussions are carried out in Section 4. Section 5 concludes this paper.
Section snippets
Problem formulation
An ASV kinematics and dynamics can be modeled by [42]wherehere, is the 3-DOF position (x, y) and heading angle (ψ) of the ASV, is the corresponding linear velocities (u, v), i.e., surge and sway velocities, and angular rate (r) in the body-fixed frame, see Fig. 1, and τδ ≔ MRT(ψ)δ(t) with are control inputs and mixed disturbances, respectively, and with
Integral sliding mode manifold design
Consider coordinate transformations as follows:where and .
Together with Eqs. (6) and (9), we can obtainwhere
Similarly, from Eqs. (7) to (9), we obtainwhere
Let and . Together with (10),
Simulation studies and discussions
In order to evaluate the proposed F-PFTC and F-AFTC schemes, comprehensive simulation studies are conducted on a well-known surface vehicle named CyberShip II [64], whereby main hydrodynamic coefficients are collected in Table 1.
To comprehensively evaluate the ability of the proposed F-PFTC and F-AFTC schemes in terms of fault detection, isolation, and estimation, as shown in Table 2, various kinds of typical faults are addressed as follows: (1) bias faults only (BFO); (2) partial loss of
Conclusion
In this paper, fault tolerant control (FTC) schemes of tracking an ASV with actuator faults and external disturbances have been addressed by combining integral sliding mode (ISM) technique with a finite-time fault estimator (FFE). By exploiting a priori knowledge on actuator faults, a finite-time passive FTC (F-PFTC) scheme using the ISM approach has been proposed to guarantee finite-time stability of the closed-loop tracking system. Pursuing superior performance, an FFE has been innovatively
Declarations of interest
None.
Acknowledgment
The authors would like to thank the Editor-in-Chief, Associate Editor and anonymous referees for their invaluable comments and suggestions. This work is supported by the National Natural Science Foundation of P. R. China (under Grants 51009017 and 51379002), the Liaoning Revitalization Talents Program (under Grant XLYC1807013), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Fund for Liaoning Innovative Talents in Colleges and Universities (under Grant LR2017024),
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