Robust finite-time fault-tolerant control for dynamic positioning of ships via nonsingular fast integral terminal sliding mode control

Li, Heng; Lin, Xin

doi:10.1016/j.apor.2022.103126

Cited by 29 publications

(7 citation statements)

References 33 publications

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“…Furthermore, considering propulsion failure, jamming and interruption, Benetazzo et al [122] used a supervisor to isolate faults and proposed a discrete-time variable structure fault-tolerant DP controller by combining multi-frequency Kalman filtering and robust observer. In [65,123], possible parameter uncertainties, adaptive fault-tolerant controllers for infinite-time and finite-time scenarios were established. In [124], by utilizing the T-S fuzzy modeling approach to linearize the nonlinear DP model and combining event-triggered mechanisms, a fault-tolerant DP control scheme was presented by solving LMIs.…”

Section: Fault-tolerant Control Designmentioning

confidence: 99%

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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This paper surveys the recent advances in dynamic positioning (DP) control for marine crafts. DP of marine crafts means that a craft can maintain a fixed position and heading, or move along a predetermined trajectory slowly without the anchoring system, using only its own thruster system to counteract ocean disturbances. The survey is by no means exhaustive but provides a survey of some of the major technological advancements in DP controller design over the years of research and development. Firstly, the model of marine crafts and some difficult problems in DP control are introduced including the impact of multiple source disturbance, unavailable velocity measurement information, resource conservation and performance optimization, destabilizing impact of faults and network security and compound multi-constraint restrictions. Then, the DP control schemes in recent years are summarized and classified in detail. Finally, some theoretical and technical problems are proposed, including online data-driven model-free control, man–machine combination intelligent control and composite hierarchical anti-disturbance control to guide future investigations.

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Section: Fault-tolerant Control Designmentioning

confidence: 99%

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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“…Furthermore, to demonstrate the effectiveness and superiority of the proposed method, the comparative simulation between the proposed method and the control strategies based on the extended state observer (ESO) [44] with super-twisting sliding mode visual servo controller (ESO-STSMVSC), and the control strategies based on the iterative learning fault observer with traditional sliding mode visual servo controller [38] (ILFO-SMVSC). The control objective is to make the image feature point track the desired trajectory.…”

Section: Casementioning

confidence: 99%

“…A high-order sliding mode observer that improves convergence speed by adding a linear term was proposed in [33] to estimate joint fault status, and Lyapunov theory was used to demonstrate the system's finite-time stability. In designing fault-tolerant controllers for robotic arms, fuzzy logic controller [34], neural network controller [35], and sliding mode controller [36][37][38][39] have been adopted to input appropriate joint torques. Among them, the sliding mode control method has been widely studied due to its advantages of a simple design process and strong robustness.…”

Section: Introductionmentioning

confidence: 99%

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Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults

Li,

Peng,

et al. 2024

Actuators

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This study presents a novel image-based visual servoing fault-tolerant control strategy aimed at ensuring the successful completion of visual servoing tasks despite the presence of robotic arm actuator faults. Initially, a depth-independent image-based visual servoing model is established to mitigate the effects of inaccurate camera parameters and missing depth information on the system. Additionally, a robotic arm dynamic model is constructed, which simultaneously considers both multiplicative and additive actuator faults. Subsequently, model uncertainties, unknown disturbances, and coupled actuator faults are consolidated as centralized uncertainties, and an iterative learning fault observer is designed to estimate them. Based on this, suitable sliding surfaces and control laws are developed within the super-twisting sliding mode visual servo controller to rapidly reduce control deviation to near zero and circumvent the chattering phenomenon typically observed in traditional sliding mode control. Finally, through comparative simulation between different control strategies, the proposed method is shown to effectively counteract the effect of actuator faults and exhibit robust performance.

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“…The sliding mode control law can be expressed as the sum of equivalent controls and switching robust controls [9].…”

Section: Design Of Equivalent Sliding Mode Controllermentioning

confidence: 99%

Research on Path Planning and Trajectory Tracking of Autonomous Vehicle

2023

autml

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With the rapid development of the world economy and science and technology, the intelligent era has kicked off, and the development and application of automatic driving technology has also attracted people's attention. Trajectory planning and tracking control, as the key technologies of autonomous driving, determine the safety and stability of autonomous vehicles during driving. Aiming at the problems of planning safety and control robustness, research on structured road obstacle avoidance trajectory planning and trajectory tracking control algorithm of autonomous vehicles can effectively improve the performance of the obstacle avoidance system of autonomous vehicles. In this paper, the obstacle avoidance path planning problem of autonomous vehicle is studied, and in order to reduce the difficulty of system modeling and improve the controller performance, the trajectory tracking control is decoupled into horizontal control and vertical control, and the research is carried out respectively.

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Robust finite-time fault-tolerant control for dynamic positioning of ships via nonsingular fast integral terminal sliding mode control

Cited by 29 publications

References 33 publications

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults

Research on Path Planning and Trajectory Tracking of Autonomous Vehicle

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