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 journalpeer-review

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Original languageEnglish
Number of pages8
Journal / PublicationIEEE Transactions on Industrial Electronics
Online published25 Oct 2022
Publication statusOnline published - 25 Oct 2022


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