带有执行器故障的多水面船固定时间分布式滑模协同控制

针对未知环境干扰、未知执行器故障等多水面船协同控制问题,提出一种带有执行器故障的多水面船固定时间分布式滑模协同控制方法,可保证协同控制系统的全局固定时间的稳定性.首先,设计一种固定时间干扰观测器,用于估计集总扰动(包括未知环境扰动和未知执行器故障);其次,引入固定时间非奇异快速终端滑模面,可有效地消除系统的奇异性,改善系统的抖振;然后,提出一种基于固定时间非奇异快速终端滑模面和固定时间干扰观测器的分布式容错控制器,使得收敛时间上界与系统初始状态无关;最后,通过仿真实验验证所提出控制律的有效性.

Fixed-time distributed sliding mode cooperative control for multiple surface vessels with actuator faults

Aiming at the problems of cooperative control for multiple surface vessels, such as unknown environmental disturbances and actuator faults, a fixed-time distributed sliding mode cooperative control method for multiple surface vessels with actuator faults is proposed. The scheme ensures the global fixed time stability of the cooperative control system. Firstly, a fixed-time disturbance observer is designed to provide the estimations of lumped disturbances including unknown environmental disturbances and actuator faults. Secondly, fixed-time non-singular fast terminal sliding mode manifold is introduced to effectively eliminate singularity and improve chattering of system. Thirdly, a distributed fault tolerant controller based on the fixed-time non-singular fast terminal sliding mode manifold and the fixed-time disturbance observer is proposed to make the upper bounds of convergence time is independent of the initial state. Finally, simulations are given to demonstrate the proposed control law.