ADP based output-feedback fault-tolerant tracking control for underactuated AUV with actuators faults

Article type: Research Article

Authors: Che, Gaofeng^{a; b; 1; *} | Yu, Zhen^{c; 1; *}

Affiliations: [a] College of Computer and Information Engineering, Henan Normal University, Xinxiang, China | [b] College of Mathematics and Information Science, Henan Normal University, Xinxiang, China | [c] Department of Automation, Xiamen University, Xiamen, China

Correspondence: [*] Corresponding authors. Gaofeng Che, E-mails: [email protected]; [email protected] and Zhen Yu, E-mail: [email protected].

Note: [1] These authors contributed equally to this work.

Abstract: In this work, the output-feedback fault-tolerant tacking control issue for underactuated autonomous underwater vehicle (AUV) with actuators faults is investigated. Firstly, an output-feedback error tacking system is constructed based on the theoretical model of underactuated AUV with actuators faults. Then, an adaptive dynamic programming (ADP) based fault-tolerant control controller is developed. In our proposed control scheme, a neural-network observer is designed to approximate the system states with actuators faults. An online policy iteration algorithm is designed with critic network and action network in order to improve the tracking accuracy. Based on Lyapunov stability theorem, the stability of the error tracking system is guaranteed by the proposed controller. At last, the simulation results show that the underactuated AUV achieves better tracking performance.

Keywords: Adaptive dynamic programming (ADP), fault-tolerant tracking control, actuators faults, neural network observer, autonomous underwater vehicle (AUV)

DOI: 10.3233/JIFS-223976

Journal: Journal of Intelligent & Fuzzy Systems, vol. 45, no. 4, pp. 5871-5883, 2023