Fault-Tolerant Control of Autonomous Surface Vessels Subject to Steer Jamming for Harbor Returning
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
| Original language | English |
|---|---|
| Number of pages | 8 |
| Journal / Publication | IEEE Transactions on Industrial Electronics |
| Online published | 25 Oct 2022 |
| Publication status | Online published - 25 Oct 2022 |
Link(s)
Abstract
Steering jam is a common fault of autonomous surface vessels (ASVs) frequently encountered in practical operations. In such a scenario, the allowable ASV moving direction is confined to a narrow zone, which inevitably induces technical challenges for harbor-returning operations of ASVs. As a remedy, we propose a moving-direction fault-tolerant control method for steering jammed ASVs to return to harbors autonomously. We derive sufficient conditions to guarantee the asymptotical stability of the closed-loop ASV system. We elaborate on experimental results on a HUSTER-16 platform established by us to substantiate the effectiveness of the proposed method.
Research Area(s)
- Actuators, control systems, Fault tolerance, Fault tolerant systems, Fault-tolerant, motion control, Spirals, Surges, Trajectory, Trajectory tracking
Citation Format(s)
Fault-Tolerant Control of Autonomous Surface Vessels Subject to Steer Jamming for Harbor Returning. / Liu, Bin; Zhang, Hai-Tao; Meng, Haofei et al.
In: IEEE Transactions on Industrial Electronics, 25.10.2022.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
