Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault

Wang, Yujia; Zhang, Mingjun; Wilson, P.A.; Liu, Xing

doi:10.1016/j.oceaneng.2015.09.035

Cited by 116 publications

(57 citation statements)

References 27 publications

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“…Furthermore, the introduction of the additional control results in that the tracking control law for the underactuated AUV in this paper can be designed in a vector setting such that the design process is simplified and well suited for computer implementation. ii.The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter such that the computational burden of the designed resulting control scheme is largely reduced in contrast to related works …”

Section: Introductionmentioning

confidence: 99%

“…[5][6][7][8] The AUVs have the characteristics of highly nonlinearity, parameter uncertainty, and others in dynamics and are exposed to unpredictable underwater environment, which puts considerable challenges in the trajectory tracking control design. Various control techniques have been used to solve the trajectory tracking control problem of AUVs with unknown dynamic parameters and disturbances, such as adaptive control, 9 sliding mode control, 10,11 neural network (NN), 12,13 robust integral of the sign of the error technique, 14 disturbance observer-based control, 15 and adding a power integrator-based method. 16 All the AUVs considered in the literature [9][10][11][12][13][14][15][16] are fully actuated.…”

Section: Introductionmentioning

confidence: 99%

“…The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter such that the computational burden of the designed resulting control scheme is largely reduced in contrast to related works. 9,12,13,19 iii. A simple nonlogarithmic error mapping function is proposed to guarantee that the trajectory tracking error satisfies the prescribed performance such that a potential singularity problem of the developed control scheme is avoided.…”

Section: Introductionmentioning

confidence: 99%

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Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Sun

et al. 2019

Intl J Robust & Nonlinear

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Summary In this paper, a novel robust adaptive trajectory tracking control scheme with prescribed performance is developed for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances. A simple error mapping function is proposed in order to guarantee that the trajectory tracking error satisfies the prescribed performance. A novel additional control based on Nussbaum function is proposed to handle the underactuation of AUVs. The compounded uncertain item caused by the unknown dynamic parameters and disturbances is transformed into a linear parametric form with only single unknown parameter called virtual parameter. On the basis of the above, a novel robust adaptive trajectory tracking control law is developed using dynamic surface control technique, where the adaptive law online provides the estimation of the virtual parameter. Strict stability analysis indicates that the designed control law ensures uniform ultimate boundedness of the AUV trajectory tracking closed‐loop control system with prescribed tracking performance. Simulation results on an AUV in two different disturbance cases with dynamic parameter perturbation verify the effectiveness of our adaptive trajectory tracking control scheme.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Sun

et al. 2019

Intl J Robust & Nonlinear

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“…The asymptotic stability result was obtained in other works 23,24 by designing direct and indirect adaptive control strategies respectively when considering the unparameterizable stuck faults without the knowledge of upper bounds of faults. Moreover, in the designs of FTC systems, an adaptive control technique can also be combined with the reconstruction controller methods such as fuzzy neural network and sliding mode variable structure control [31][32][33][34] so that the applications of adaptive control technology are further expanded. 25 In the works of Zhao et al 26 and Rabaoui et al, 27 the results in adaptive FTC are based on model reference adaptive control, where the outputs of closed-loop systems can track the prescribed referent outputs.…”

mentioning

confidence: 99%

“…It is worthwhile emphasizing that neural adaptive techniques were significantly applied in other works [28][29][30] to solve the fault detection and FTC problems of unmanned aerial vehicles due to the strong ability of online learning and self-adjusting of parameters to approximate nonlinear dynamics and compensate for unknown faults. Moreover, in the designs of FTC systems, an adaptive control technique can also be combined with the reconstruction controller methods such as fuzzy neural network and sliding mode variable structure control [31][32][33][34] so that the applications of adaptive control technology are further expanded.…”

mentioning

confidence: 99%

Comparisons of adaptive fault‐tolerant insensitive control methods for a class of linear systems

Jin

Lü

Tan

et al. 2018

Adaptive Control & Signal

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In this paper, the problem of fault-tolerant insensitive control is addressed for a class of linear time-invariant continuous-time systems against bounded time-varying actuator faults and controller gain variations. Adaptive mechanisms are developed to adjust controller gains in order to compensate for the detrimental effects of partial loss of control effectiveness and bias-actuator faults. Variations of controller gains arise from time-varying and bounded perturbations that are supposed to always exist in adaptive mechanisms. Based on the disturbed outputs of adaptive mechanisms, three different adaptive control strategies are constructed to achieve bounded stability results of the closed-loop adaptive fault-tolerant control systems in the presence of actuator faults and controller gain variations. Furthermore, comparisons of convergence boundaries of states and limits of control inputs among adaptive strategies are developed in this paper. The efficiency of the proposed adaptive control strategies and their comparisons are demonstrated by a rocket fairing structural-acoustic model. KEYWORDS actuator faults, bounded stability, disturbed adaptive mechanisms, fault-tolerant control system INTRODUCTIONIn a practical control system, it is inevitable that a component such as an actuator or a sensor is faulty at some instants because of the reason of coming from the component's quality, external working environment, internal operation conditions, etc. Under unexpected faults of components, fault-tolerant control (FTC) designs are critical to be developed to maintain stability of systems and prevent performance degradation seriously. 1,2 During the past two decades, various FTC and some relative methods have been proposed for nonlinear systems such as aircraft, 3,4 robots, 5,6 interconnected systems such as networked systems 7,8 and multiagent systems, 9-11 linear systems with time delays, 12 uncertainties and disturbances, 13 state/input saturations, 14,15 and controller gain variations. 16,17 Among those methods, active FTC has received increasing attention because of its advantages of online changing controller structure and adjusting the control parameters to accommodate actuator and sensor faults.The existing active FTC designs can be broadly classified into two categories, that is, fault detection and isolation (FDI)-based FTC and adaptive FTC designs. In the study of FDI-based FTC systems, FTC strategies are designed based on the exactly faulty information, which is obtained by FDI mechanisms. 13,18 On the other hand, an adaptive technique that can estimate the changes of system parameters in real time has been widely used to deal with many issues in Int J Adapt Control Signal Process. 2019;33: 175-195. wileyonlinelibrary.com/journal/acs

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Adaptive predefined‐time tracking control for high‐order strict‐feedback nonlinear systems with unknown mismatched disturbances

Jia

Huang

2022

Adaptive Control & Signal

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Summary The problem of practical predefined‐time tracking control is con sidered for high‐order strict‐feedback nonlinear systems subject to unknown mismatched disturbances. The exact bound of the mismatched disturbances is unknown in this study. A novel adaptive predefined‐time tracking control strategy based on backstepping is proposed by applying a predefined time stability theory. Using the designed tracking controller, all signals are bounded, and a user‐defined bound on the tracking error is ensured in a predefined interval, independent of initial states. The estimation parameters associated with the upper bound of the disturbances are updated adaptively, making the system robust to the disturbances. Simulation studies are conducted to illustrate the performance of the proposed control strategy.

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Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault

Cited by 116 publications

References 27 publications

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

Comparisons of adaptive fault‐tolerant insensitive control methods for a class of linear systems

Adaptive predefined‐time tracking control for high‐order strict‐feedback nonlinear systems with unknown mismatched disturbances

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