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

doi:10.1109/JAS.2023.123675

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	Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults
	Li-Ying Hao; Gege Dong; Tieshan Li; Zhouhua Peng
刊名	IEEE/CAA Journal of Automatica Sinica
	2024
卷号	11 期号:4 页码:956-964
关键词	Actuator faults autonomous surface vehicle (ASVs) improved artificial potential function nonlinear state observer obstacle avoidance
ISSN号	2329-9266
DOI	10.1109/JAS.2023.123675
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/55369]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Li-Ying Hao,Gege Dong,Tieshan Li,et al. Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(4):956-964.
APA	Li-Ying Hao,Gege Dong,Tieshan Li,&Zhouhua Peng.(2024).Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults.IEEE/CAA Journal of Automatica Sinica,11(4),956-964.
MLA	Li-Ying Hao,et al."Path-Following Control With Obstacle Avoidance of Autonomous Surface Vehicles Subject to Actuator Faults".IEEE/CAA Journal of Automatica Sinica 11.4(2024):956-964.