Name
Title | ||
|---|---|---|
Disturbance-Observer-Based Prescribed Performance Fault-Tolerant Trajectory Tracking Control for Ocean Bottom Flying Node. |
Abstract | ||
|---|---|---|
The development of marine petroleum exploitation becomes an important part of marine economy development gradually. Ocean bottom flying node (OBFN) is a kind of autonomous underwater vehicle which can explore marine petroleum and natural gas in large-scale deployment. This paper investigates the prescribed performance fault-tolerant trajectory tracking control method for an OBFN in presence of modeling uncertainties, ocean current disturbances, and thruster faults. By using a new performance function and an error transformation scheme, the proposed controller is able to achieve the desired tracking performance and the maximum convergence time is known as a priori. A disturbance observer is designed to deal with the influence of the modeling uncertainties, ocean disturbances, and thruster faults. The stability of the closed-loop OBFN system is proved by using Lyapunov theory. Finally, simulation results under different types of thruster faults illustrate the effectiveness of the proposed disturbance-observer-based prescribed performance fault-tolerant trajectory tracking controller. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ACCESS.2019.2909733 | IEEE ACCESS |
Keywords | Field | DocType |
Disturbance observer,ocean bottom flying node,prescribed performance,trajectory tracking control | Convergence (routing),Lyapunov function,Control theory,Control theory,Computer science,A priori and a posteriori,Fault tolerance,Ocean current,Observer (quantum physics),Trajectory,Distributed computing | Journal |
Volume | ISSN | Citations |
7 | 2169-3536 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hongde Qin | 1 | 0 | 1.35 |
| Zheyuan Wu | 2 | 0 | 0.68 |
| Yanchao Sun | 3 | 39 | 7.07 |
| Hui Chen | 4 | 111 | 23.11 |