A fault-tolerant control (FTC) scheme combining predefined-time sliding mode and quadratic programing algorithm is proposed to achieve path-following of unmanned underwater vehicle (UUV) subject to actuator faults and input saturation. Initially, line of sight method based on fixed-time predictors is used to construct path-following guidance law, incorporating a predefined-time sliding mode surface to design the path-following controller, which effectively accelerates the system convergence speed. Subsequently, a neural network is trained for real-time actuator fault diagnosis, enabling prompt acquisition of fault parameters. These parameters are then utilized in a quadratic programing thrust redistribution system to compensate for the failed thrust while also addressing input saturation constraint. By combining predefined-time sliding mode control with quadratic programing, this approach balances error convergence time, control accuracy, and fault tolerance within the UUV fault tolerant control system. Through the application of Lyapunov functions, the study establishes the system’s uniform global fixed-time stability. Numerical simulations demonstrate that the devised controller adeptly accomplishes horizontal path tracking tasks within a stipulated timeframe, effectively compensating for thruster failures, unknown ocean currents, and model parameter perturbations.
ZhengSSuYZhuangJ, et al. Fixed-time path-following-based underactuated unmanned surface vehicle dynamic positioning control. J Mar Sci Eng2024; 12(4): 551.
2.
LiJZhuGLuJ, et al. FTILOS-based self-triggered adaptive neural path following control for 4DOF underactuated unmanned surface vehicles. Ocean Eng2024; 295: 116947.
3.
FossenTI.An adaptive line-of-sight (ALOS) guidance law for path following of aircraft and marine craft. IEEE Trans Control Syst Technol2023; 31(6): 2887–2894.
4.
LiuCGuoWSunT.RLOS-based path following with event-triggered roll motion control for underactuated ship using rudder. Ocean Eng2023; 269: 113592.
5.
YuYGuoCYuH.Finite-time PLOS-based integral sliding-mode adaptive neural path following for unmanned surface vessels with unknown dynamics and disturbances. IEEE Trans Autom Sci Eng2019; 16(4): 1500–1511.
6.
HeZFanYWangG, et al. Global finite-time PLOS-OCCs guidance and adaptive integral sliding mode path following control for unmanned surface vehicles with ocean currents and input saturation. Ocean Eng2024; 299: 117227.
7.
LiuHSunNRenG.An improved predictor LOS-based global fixed-time prescribed performance controller for the path following of underactuated marine surface vehicles with input saturation. J Frank Inst2024; 361(1): 453–473.
8.
HaoLYZhangYQLiH.Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles. Appl Math Comput2021; 401: 126078.
9.
HaoLYZhangHYueW, et al. Fault-tolerant compensation control based on sliding mode technique of unmanned marine vehicles subject to unknown persistent ocean disturbances. Int J Control Autom Syst2020; 18(3): 739–752.
10.
HaoLYZhangHGuoG, et al. Quantized sliding mode control of unmanned marine vehicles: various thruster faults tolerated with a unified model. IEEE Trans Syst Man Cybern Syst2019; 51(3): 1–15.
11.
QinHYangHSunY, et al. Adaptive interval type-2 fuzzy fixed-time control for underwater walking robot with error constraints and actuator faults using prescribed performance terminal sliding-mode surfaces. Int J Fuzzy Syst2021; 23(4): 1137–1149.
12.
AliNTawiahIZhangW.Finite-time extended state observer based nonsingular fast terminal sliding mode control of autonomous underwater vehicles. Ocean Eng2020; 218: 108179.
13.
QiaoLZhangW.Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles. IET Control Theory Appl2017; 11(8): 1293–1306.
14.
QiaoLZhangW.Trajectory tracking control of AUVs via adaptive fast nonsingular integral terminal sliding mode control. IEEE Trans Ind Inform2020; 16(2): 1248–1258.
15.
ZhangMZangHBaiL.A new predefined-time sliding mode control scheme for synchronizing chaotic systems. Chaos Soliton Fract2022; 164: 112745.
16.
ChuZWangFLeiT, et al. Path planning based on deep reinforcement learning for autonomous underwater vehicles under ocean current disturbance. IEEE Trans Intell Veh2023; 8(1): 108–120.
17.
LiuFMaZMuB, et al. Review on fault-tolerant control of unmanned underwater vehicles. Ocean Eng2023; 285: 115471.
18.
LiuFTangHQinY, et al. Review on fault diagnosis of unmanned underwater vehicles. Ocean Eng2022; 243: 110290.
19.
OrhanMCelikM.A literature review and future research agenda on fault detection and diagnosis studies in marine machinery systems. Proc IMechE, Part M: J Engineering for the Maritime Environment2024; 238(1): 3–21.
20.
LiuXZhangMYaoF.Adaptive fault tolerant control and thruster fault reconstruction for autonomous underwater vehicle. Ocean Eng2018; 155: 10–23.
21.
HuDWuYZhouY, et al. Actuator fault detection for automation underwater vehicle via extended state observer and adaptive threshold. In: Chinese Control Conference (CCC), 2022, pp. 4106–4111. New York: IEEE.
22.
YinBWangZZhangM, et al. A transferable thruster fault diagnosis approach for autonomous underwater vehicle under different working conditions with insufficient labeled training data. Machines2022; 10(12): 1236.
23.
JiangJYuX.Fault-tolerant control systems: a comparative study between active and passive approaches. Annu Rev Control2012; 36(1): 60–72.
24.
RemmasWChemoriAKruusmaaM.Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: design and experiments. Ocean Eng2023; 285: 115327.
25.
HouCLiXWangH, et al. Fuzzy linear extended states observer-based iteration learning fault-tolerant control for autonomous underwater vehicle trajectory-tracking system. IET Control Theory Appl2023; 17(3): 270–283.
26.
LvTZhouJWangY, et al. Sliding mode based fault tolerant control for autonomous underwater vehicle. Ocean Eng2020; 216: 107855.
27.
ZhuDZhangHLiuC.Tracking controller based on model prediction control for remotely operated vehicle for thruster fault. J Mar Sci Technol2022; 27(2): 840–855.
28.
NiLFullerCR.Control reconfiguration based on hierarchical fault detection and identification for unmanned underwater vehicles. J Vib Control2003; 9(7): 735–748.
29.
Dos SantosCHFCardozoDIKReginattoR, et al. Bank of controllers and virtual thrusters for fault-tolerant control of autonomous underwater vehicles. Ocean Eng2016; 121: 210–223.
30.
ZhuDZhuZ.Output fault-tolerant control of underwater vehicle based on adaptive sliding mode control under multiple constraints. Proc IMechE, Part M: J Engineering for the Maritime Environment2024; 14750902241260104.
31.
CheGYuZ.Neural-network estimators based fault-tolerant tracking control for AUV via ADP with rudders faults and ocean current disturbance. Neurocomputing2020; 411: 442–454.
32.
BaiYBiggsJDZhangZ, et al. Adaptive fault-tolerant control for longitudinal motion of supercavitating vehicles. Eur J Control2021; 57: 263–272.
33.
YanYGuanDJiangT, et al. Event-triggered adaptive predefined-time sliding mode control of autonomous surface vessels with unknown dead zone and actuator faults. Ocean Eng2024; 304: 117851.
34.
LiuFXuDYuJ, et al. Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles. Int J Adv Robot Syst2018; 15(2): 1729881418770876.
35.
KadiyamJParasharAMohanS, et al. Actuator fault-tolerant control study of an underwater robot with four rotatable thrusters. Ocean Eng2020; 197: 106929.
36.
BaldiniACiabattoniLFelicettiR, et al. Dynamic surface fault tolerant control for underwater remotely operated vehicles. ISA Trans2018; 78: 10–20.
37.
YaoQ.Adaptive finite-time sliding mode control design for finite-time fault-tolerant trajectory tracking of marine vehicles with input saturation. J Frank Inst2020; 357(18): 13593–13619.
38.
WangX.Active fault tolerant control for unmanned underwater vehicle with actuator fault and guaranteed transient performance. IEEE Trans Intell Veh2021; 6(3): 470–479.
39.
IsmailZHFaudziADunniganMW.Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters. Math Probl Eng2014; 2014(1): 1–12.
40.
ZhangMLiuXYinB, et al. Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents. J. Frankl Inst-Eng Appl Math2015; 352(11): 4935–4961.
41.
ZhaoHZhuD. UUV trajectory tracking control with fault tolerant based on MPC. In: Chinese Control And Decision Conference (CCDC), 2020, pp. 2403–2408. New York: IEEE.
42.
PolyakovA.Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans Automat Contr2012; 57(8): 2106–2110.
43.
HardyGHLittlewoodJEPólyaG.Inequalities. London: Cambridge University Press, 1952.
44.
HuangXLinWYangB.Global finite-time stabilization of a class of uncertain nonlinear systems. Automatica2005; 41(5): 881–888.
45.
PettersenKYEgelandO.Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle. IEEE Trans Automat Contr1999; 44(1): 112–115.
