Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

2021 ◽  
Author(s):  
Cheng Zhu ◽  
Bing Huang ◽  
Yumin Su ◽  
Yuxin Zheng ◽  
Shuai Zheng
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Input Saturation ◽  
Underwater Vehicle ◽  
Rotation Matrix ◽  
Actuator Faults

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

Adaptive NN finite-time tracking control of output constrained nonlinear system with input saturation

2018 ◽  
Vol 92 (4) ◽  
pp. 1845-1856 ◽  
Author(s):  
Shiyi Zhao ◽  
Hongjing Liang ◽  
Peihao Du ◽  
Suwen Qi
Keyword(s):  
Nonlinear System ◽  
Finite Time ◽  
Tracking Control ◽  
Input Saturation
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