Quantized Output-Feedback Control for Unmanned Marine Vehicles With Thruster Faults via Sliding-Mode Technique
针对无人船推进器故障和海洋环境扰动，提出一种量化输出反馈滑模控制方法，通过动态调整量化参数和自适应机制，保证系统渐近稳定，并能容忍更小的故障因子下限。
This article is concerned with the quantized output-feedback control problem for unmanned marine vehicles (UMVs) with thruster faults and ocean environment disturbances via a sliding-mode technique. First, based on output information and compensator states, an augmented sliding surface is constructed and sliding-mode stability through linear matrix inequalities can be guaranteed. An improved quantization parameter dynamic adjustment scheme, with a larger quantization parameter adjustment range, is then given to compensate for quantization errors effectively. Combining the quantization parameter adjustment strategy and adaptive mechanism, a novel robust sliding-mode controller is designed to guarantee the asymptotic stability of a closed-loop UMV system. As a result, a smaller lower bound of the thruster fault factor than that of the existing result can be tolerated, which brings more practical applications. Finally, the comparison simulation results have illustrated the effectiveness of the proposed method.