In practical engineering applications, timely fault detection and estimation are often critical, while time-consuming fault detection processes can lead to system instability or significant performance degradation. To address this issue, a practical predefined-time convergence mechanism has been developed. This mechanism starts with an introduction to fault detection, followed by the design of a predefined-time fault estimation approach. Subsequently, a practical predefined-time fault-tolerant controller, along with a theoretical proof of the proposed control algorithm, is provided. A new scheme for singularity avoidance is introduced, ensuring that tracking errors do not approach infinity near the origin. The effectiveness of this approach is verified through its application to unmanned surface vessels for trajectory tracking, where it outperforms traditional fixed-time and predefined-time controllers. Its key characteristics include simple operation, remarkable effectiveness, and intuitive display. Ultimately, this research enhances the transient stability and robustness of unmanned ships control under non-ideal conditions and environments.
BianXWangYZhangX, et al. (2009) Research on simulation of course control for large ship with wave disturbances in different sea conditions. In: OCEANS 2009, Biloxi, MS, 26–29 October, pp. 1–5. New York: IEEE.
2.
ChenQXieSHeX (2020) Neural-network-based adaptive singularityfree fixed-time attitude tracking control for spacecrafts. IEEE Transactions on Cybernetics51(10): 5032–5045.
3.
FossenTI (2021) Handbook of Marine Craft Hydrodynamics and Motion Control. Chichester: Wiley.
4.
González-PrietoJA (2023) Adaptive finite time smooth nonlinear sliding mode tracking control for surface vessels with uncertainties and disturbances. Ocean Engineering279: 114474.
5.
Hernandez-SanchezAAndrianovaOPoznyakA, et al. (2021) Tridimensional autonomous motion robust control of submersible ship based on averaged sub-gradient integral sliding mode approach. International Journal of Systems Science52(3): 541–554.
6.
JinTLiuCWangX, et al. (2024) Integrated fault detection filter and fault-tolerant control for the unmanned surface vehicle with deception attacks. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering238(6): 1089–1101.
7.
KhaledNChalhoubNG (2011) A dynamic model and a robust controller for a fully-actuated marine surface vessel. Journal of Vibration and Control17(6): 801–812.
8.
LiCHeMHuangH, et al. (2024) Adaptive state feedback shared control for unmanned surface vehicle with fixed-time prescribed performance control. IEEE Access12: 93781–93790.
9.
LiZLeiK (2024) Robust fixed-time fault-tolerant control for USV with prescribed tracking performance. Journal of Marine Science and Engineering12(5): 799.
10.
LiuCZhaoXWangX, et al. (2023) Adaptive fault identification and reconfigurable fault-tolerant control for unmanned surface vehicle with actuator magnitude and rate faults. International Journal of Robust and Nonlinear Control33(10): 5463–5483.
11.
ManningWCrollaDA (2007) A review of yaw rate and sideslip controllers for passenger vehicles. Transactions of the Institute of Measurement and Control29(2): 117–135.
12.
Muñoz-VázquezAJSánchez-TorresJDJiménez-RodríguezE, et al. (2019) Predefined-time robust stabilization of robotic manipulators. IEEE/ASME Transactions on Mechatronics24(3): 1033–1040.
13.
Sánchez-TorresJDSanchezENLoukianovAG (2015) Predefined-time stability of dynamical systems with sliding modes. In: 2015 American control conference (ACC), Chicago, IL, 1–3 July, pp. 5842–5846. New York: IEEE.
14.
ShenQYueCGohCH, et al. (2018) Active fault-tolerant control system design for spacecraft attitude maneuvers with actuator saturation and faults. IEEE Transactions on Industrial Electronics66(5): 3763–3772.
15.
SongXWuCSongS (2024) Composite learning adaptive intelligent self-triggered fault-tolerant control with improved performance assurance for autonomous surface vehicle. IEEE Transactions on Artificial Intelligence5(7): 3325–3335.
16.
SunHShiJHouL (2023) Event-triggered observer-based TS fuzzy dynamic positioning fault-tolerant control for unmanned surface vehicle. Neural Computing and Applications35(27): 20157–20171.
17.
WanLCaoYSunY, et al. (2022) Fault-tolerant trajectory tracking control for unmanned surface vehicle with actuator faults based on a fast fixed-time system. ISA Transactions130: 79–91.
18.
WangCLinY (2015) Decentralized adaptive tracking control for a class of interconnected nonlinear time-varying systems. Automatica54: 16–24.
19.
WangHLiuCHuangX, et al. (2024a) Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks. Complex Engineering Systems4: 13.
20.
WangNPanXSuS-F (2020) Finite-time fault-tolerant trajectory tracking control of an autonomous surface vehicle. Journal of the Franklin Institute357: 11114–11135.
21.
WangXOuyangYWangX, et al. (2024b) A novel, finite-time, active fault-tolerant control framework for autonomous surface vehicle with guaranteed performance. Journal of Marine Science and Engineering12(2): 347.
22.
WangXWangQCaoX, et al. (2024c) State recovery and fault-tolerant control of autonomous surface vehicle with actuator and sensor faults. IEEE Transactions on Intelligent Vehicles. Epub ahead of print 24 June. DOI: 10.1109/TIV.2024.3417897.
23.
WuRDuJXuG, et al. (2021) Active disturbance rejection control for ship course tracking with parameters tuning. International Journal of Systems Science52(4): 756–769.
24.
XieSChenQ (2021) Adaptive nonsingular predefined-time control for attitude stabilization of rigid spacecrafts. IEEE Transactions on Circuits and Systems Ii-express Briefs69(1): 189–193.
25.
XueH (2022) A quasi-reflection based SC-PSO for ship path planning with grounding avoidance. Ocean Engineering247: 110772.
26.
XueHLiS (2023) Predefined-time neural sliding mode control based trajectory tracking of autonomous surface vehicle. Journal of Marine Science and Technology-Taiwan31(3): 193–204.
27.
XueHOuY (2023) A novel asymmetric barrier Lyapunov function-based fixed-time ship berthing control under multiple state constraints. Ocean Engineering281: 114756.
28.
YanWZLiJCGoebelKF (2009) On improving performance of aircraft engine gas path fault diagnosis. Transactions of the Institute of Measurement and Control31(3–4): 105149.
29.
YangYWangJHuaC, et al. (2024) Saturation-tolerant adaptive fixed-time control of underactuated surface vessel with improved given performances. IEEE Transactions on Intelligent Vehicles99: 1–11.
30.
YinZWangWLiuZ, et al. (2024) Fixed-time control of a marine surface vessel system with input saturation and guaranteed prescribed constraints. Ocean Engineering297: 117078.
31.
YuXNHaoLYWangXL (2022) Fault tolerant control for an unmanned surface vessel based on integral sliding mode state feedback control. International Journal of Control, Automation and Systems20(8): 2514–2522.
32.
ZhangGChuSZhangW, et al. (2022) Adaptive neural fault-tolerant control for USV with the output-based triggering approach. IEEE Transactions on Vehicular Technology71(7): 6948–6957.
33.
ZhangXChenYLuW, et al. (2024) Heterogeneous distributed control strategy for UAV-USV at fixed-time. computer systems and communication technology. IOS Press49: 38–44.
34.
ZhangXXuXLiJ, et al. (2023) Observer-based H∞ fuzzy fault-tolerant switching control for ship course tracking with steering machine fault detection. ISA Transactions140: 32–45.
35.
ZhangXXuXLiJ, et al. (2024) Observer-based fuzzy adaptive fault-tolerant control for NSC system of USV with sideslip angle and steering machine fault. IEEE Transactions on Intelligent Vehicles9(1): 372–382.
36.
ZhaoZLiuYMaG, et al. (2023) Adaptive fuzzy fault-tolerant control for a riser-vessel system with unknown backlash. IEEE Transactions on Systems, Man, and Cybernetics: Systems53(10): 6598–6607.
37.
ZhaoZLiuYZouT, et al. (2022) Robust adaptive fault-tolerant control for a riser-vessel system with input hysteresis and time-varying output constraints. IEEE Transactions on Cybernetics53(6): 3939–3950.
