Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance
Unmanned surface vehicles (USVs), as a type of marine robotic systems, are widely used in various applications such as maritime surveillance, environmental monitoring, and cargo transportation. This article addresses the trajectory tracking control issue for an USV subject to model uncertainties and...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-04-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2025.1576171/full |
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| author | Yunuo Bao Ji Gao Peng Peng |
| author_facet | Yunuo Bao Ji Gao Peng Peng |
| author_sort | Yunuo Bao |
| collection | DOAJ |
| description | Unmanned surface vehicles (USVs), as a type of marine robotic systems, are widely used in various applications such as maritime surveillance, environmental monitoring, and cargo transportation. This article addresses the trajectory tracking control issue for an USV subject to model uncertainties and actuator faults. A logarithm barrier Lyapunov functions based predefined tracking control scheme is proposed to regulate the position error of the USV into predefined performance region. Then, to ensure the predefined transient and steady state tracking performance of the USV in the presence of actuator faults, we propose an adaptive fuzzy fault-tolerant controller to address the actuator faults. Additionally, to deal with the uncertainties arising from the USV system model, fuzzy logic systems are utilized to estimate the unknown hydrodynamic parameters. Based on the Lyapunov stability criterion, it can be demonstrated that all the closed-loop signals are bounded. Finally, the validity of the developed control scheme is demonstrated from simulation results. |
| format | Article |
| id | doaj-art-9c2712e7fc1a435eb8b7325224fce73e |
| institution | DOAJ |
| issn | 2296-9144 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-9c2712e7fc1a435eb8b7325224fce73e2025-08-20T03:17:58ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442025-04-011210.3389/frobt.2025.15761711576171Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performanceYunuo Bao0Ji Gao1Peng Peng2School of Public Affairs, Nanjing University of Science and Technology, Nanjing, China704 Research Institute, China State Shipbuilding Corporation Limited, Shanghai, China704 Research Institute, China State Shipbuilding Corporation Limited, Shanghai, ChinaUnmanned surface vehicles (USVs), as a type of marine robotic systems, are widely used in various applications such as maritime surveillance, environmental monitoring, and cargo transportation. This article addresses the trajectory tracking control issue for an USV subject to model uncertainties and actuator faults. A logarithm barrier Lyapunov functions based predefined tracking control scheme is proposed to regulate the position error of the USV into predefined performance region. Then, to ensure the predefined transient and steady state tracking performance of the USV in the presence of actuator faults, we propose an adaptive fuzzy fault-tolerant controller to address the actuator faults. Additionally, to deal with the uncertainties arising from the USV system model, fuzzy logic systems are utilized to estimate the unknown hydrodynamic parameters. Based on the Lyapunov stability criterion, it can be demonstrated that all the closed-loop signals are bounded. Finally, the validity of the developed control scheme is demonstrated from simulation results.https://www.frontiersin.org/articles/10.3389/frobt.2025.1576171/fullunmanned surface vehicles (USVs)actuator faultstrajectory trackingfault-tolerant controlfuzzy adaptive control |
| spellingShingle | Yunuo Bao Ji Gao Peng Peng Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance Frontiers in Robotics and AI unmanned surface vehicles (USVs) actuator faults trajectory tracking fault-tolerant control fuzzy adaptive control |
| title | Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| title_full | Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| title_fullStr | Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| title_full_unstemmed | Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| title_short | Fuzzy adaptive fault-tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| title_sort | fuzzy adaptive fault tolerant control for an unmanned surface vehicle with prescribed tracking performance |
| topic | unmanned surface vehicles (USVs) actuator faults trajectory tracking fault-tolerant control fuzzy adaptive control |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2025.1576171/full |
| work_keys_str_mv | AT yunuobao fuzzyadaptivefaulttolerantcontrolforanunmannedsurfacevehiclewithprescribedtrackingperformance AT jigao fuzzyadaptivefaulttolerantcontrolforanunmannedsurfacevehiclewithprescribedtrackingperformance AT pengpeng fuzzyadaptivefaulttolerantcontrolforanunmannedsurfacevehiclewithprescribedtrackingperformance |