Prescribed performance trajectory tracking fault-tolerant control for dynamic positioning vessels under velocity constraints
作者：
Highlights：
• A trajectory tracking method with prescribed performance is proposed for dynamic positioning vessels by artfully constructing the intermediated error variable, and combining with appointed-time performance function, time-invariant and time-varying asymmetric barrier Lyapunov functions. The derived controller can restrain not only the trajectory-level but also the velocity-level tracking errors from exceeding the corresponding performance constraints, meanwhile the tracking operation can achieve in a pre-appointed time.
• Neural network and adaptive techniques are incorporated to construct a fault-tolerant trajectory tracking controller, which can not only estimate thruster faults, but also provide better robustness against model uncertainties and external disturbance.
摘要
•A trajectory tracking method with prescribed performance is proposed for dynamic positioning vessels by artfully constructing the intermediated error variable, and combining with appointed-time performance function, time-invariant and time-varying asymmetric barrier Lyapunov functions. The derived controller can restrain not only the trajectory-level but also the velocity-level tracking errors from exceeding the corresponding performance constraints, meanwhile the tracking operation can achieve in a pre-appointed time.•Neural network and adaptive techniques are incorporated to construct a fault-tolerant trajectory tracking controller, which can not only estimate thruster faults, but also provide better robustness against model uncertainties and external disturbance.
论文关键词：Dynamic positioning vessels,Trajectory tracking,Fault-tolerant control,Prescribed performance,Velocity constraints
论文评审过程：Received 10 October 2021, Revised 20 April 2022, Accepted 19 June 2022, Available online 28 June 2022, Version of Record 28 June 2022.
论文官网地址：https://doi.org/10.1016/j.amc.2022.127348
