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Volume 11 Issue 4
Apr.  2024

IEEE/CAA Journal of Automatica Sinica

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L.-Y. Hao, G. Dong, T. Li, and  Z. Peng,  “Path-following control with obstacle avoidance of autonomous surface vehicles subject to actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 956–964, Apr. 2024. doi: 10.1109/JAS.2023.123675
Citation: L.-Y. Hao, G. Dong, T. Li, and  Z. Peng,  “Path-following control with obstacle avoidance of autonomous surface vehicles subject to actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 4, pp. 956–964, Apr. 2024. doi: 10.1109/JAS.2023.123675

Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults

doi: 10.1109/JAS.2023.123675
Funds:  This work was supported in part by the National Natural Science Foundation of China (51939001, 52171292, 51979020, 61976033), Dalian Outstanding Young Talents Program (2022RJ05), the Topnotch Young Talents Program of China (36261402), and the Liaoning Revitalization Talents Program (XLYC2007188)
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  • This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults, uncertainty and external disturbances. Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments, which may cause existing obstacle avoidance strategies to fail. To reduce the influence of actuator faults, an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors. The nonlinear state observer, which only depends on measurable position information of the autonomous surface vehicle, is used to address uncertainties and external disturbances. By using a backstepping technique and adaptive mechanism, a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero. Compared with existing results, the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously. Finally, the comparison results through simulations are given to verify the effectiveness of the proposed method.

     

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    Highlights

    • Considering actuator faults and obstacle avoidance simultaneously, the path-following control scheme with obstacle avoidance and fault tolerance is developed which can ensure the uniform ultimate boundedness of tracking errors
    • The actuator fault effect on existing obstacle avoidance strategy is revealed. As the lower bound of actuator efficiency factors decreases, the safe distance becomes smaller. In other words, the occurrence of actuator faults leads to the conservativeness of the traditional obstacle avoidance strategy
    • To compensate for actuator faults, an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors. The proposed obstacle avoidance strategy can be reduced to an existing one in the absence of actuator faults

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