Anti-disturbance fault-tolerant formation containment control for multiple autonomous underwater vehicles with actuator faults

This paper presents a novel LTI control toolbox, aiming at transparent optimal feedback controller design. It provides a compact and intuitive syntax to model the control configuration and to formulate performance specifications based on an criterion. Its core contains state-of-the-art solvers which are able to handle unstable weights. Moreover, improper weighting functions can be handled and state measurements are exploited to reduce the controller order. On account of these aspects, the synthesized controllers require no post-processing. A comparison with Matlab's robust control toolbox shows a clear improvement regarding the expression of controller specifications and the computation time.

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An LTI control toolbox — Simplifying optimal feedback controller design

Velocity-based tuning of degree of homogeneity for finite-time stabilization and fault tolerant control of an ROV in the presence of thruster saturation and rate limits

Fault tolerant control system for an ROV based on a novel integral sliding mode control and a state and fault observer in the presence of thruster limitations

This paper proposes a disturbance observer-based prescribed performance super-twisting sliding mode control (DOB PPSTSMC) for trajectory tracking of the autonomous surface vessels (ASVs) subject to unknown external disturbances and modeling errors. Both unknown external disturbances and system modeling errors are approximated by the disturbance observer, thus eliminating most of the effect caused by lumped disturbances in the control performance. Based on this, a prescribed performance super-twisting sliding mode controller is explored to further suppress the residual error of disturbance compensation. Prescribed performance constraints are considered in the coming up with the super-twisting sliding mode controller, so that ASVs not only achieve effective tracking of time-varying desired trajectories, but also improve the transient performance of the control system. In addition, the controller is continuous and chatter-free, which has greater practical value. The excellence of the control project design is highlighted through the simulation and comparison results. 

Disturbance observer-based prescribed performance super-twisting sliding mode control for autonomous surface vessels.

This brief disposes the finite-time anti-unwinding trajectory tracking control problem of the autonomous underwater vehicle (AUV) encountering model uncertainties, ocean disturbances and actuator failures. Primarily, the kinematic model of translational and rotational motions is depicted by unit quaternion in lieu of classical Euler angle such that the AUV's dynamics could be globally and uniquely formulated. Subsequently, two finite-time control strategies are presented here to leave the state variables of AUV can converge to an adjustable region. Additionally, the adaptive laws could be applicable to the existence of actuator faults by utilizing a passive fault-tolerant technology. By integrating the initial value of the scalar quaternion into the sliding mode surface, the proposed controllers are characterized with anti-unwinding property. Then, with the application of hyperbolic tangent function, finite-time stability will be achieved for tracking errors without singularity. Stability of the closed-loop system is verified via the Lyapunov theorem. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed controllers. 

Quaternion-based finite-time fault-tolerant trajectory tracking control for autonomous underwater vehicle without unwinding.

Improved Dynamic Event-Triggered Anti-Unwinding Control for Autonomous Underwater Vehicles

This paper deals with a nonstandard H∞ control problem for continuous-time descriptor systems with unstable and nonproper output weighting functions. In this problem, a desired controller is sought to render the closed-loop system comprehensively admissible and achieve some prescribed H∞ performance for the closed-loop system as well. By a generalized Sylvester equation, the comprehensive admissibility objective is achieved using a specific structured controller. Thanks to this structured controller, the defined nonstandard control problem can be reduced to a standard H∞ control problem for an associated descriptor plant. A numerically tractable solution is then derived in terms of a set of linear matrix inequalities (LMIs).

H ∞ control with outputweights for descriptor systems: An LMI approach

Event-triggered coordinated trajectory tracking control for multiple fully-actuated MSVs under prescribed performance constraints and limited transmission resources

Ziyi Su

Papers

Quaternion-based finite-time fault-tolerant trajectory tracking control for autonomous underwater vehicle without unwinding.

Improved Dynamic Event-Triggered Anti-Unwinding Control for Autonomous Underwater Vehicles

H ∞ control with outputweights for descriptor systems: An LMI approach

Event-triggered coordinated trajectory tracking control for multiple fully-actuated MSVs under prescribed performance constraints and limited transmission resources