Asynchronous Adaptive Fault-Tolerant Control for Networked Stochastic Unmanned Surface Vehicles with Multiple Types of Actuator Faults

Abstract

This paper aims to design an asynchronous adaptive fault-tolerant controller for the networked stochastic unmanned surface vehicles (NSUSVs) subject to multiple types of actuator faults and external disturbance. The partial fault and bias fault of the actuator are taken into consideration simultaneously. By estimating online the unknown bias fault of the actuator and the external disturbances, the proposed adaptive fault-tolerant controller can automatically compensate for these impacts produced by actuator faults and external perturbation while preserving the uniformly ultimate boundedness of the solutions. Both the faulty actuator and the designed controller are asynchronous with the NSUSVs. Moreover, a mode-dependent adaptive event-triggered mechanism (AETM) is introduced in order to facilitate network resources utilization. Finally, the effectiveness and correctness of the proposed design scheme are verified by a numerical example.