Disturbance-Observer-Based Prescribed Performance Fault-Tolerant Trajectory Tracking Control for Ocean Bottom Flying Node

Abstract

The development of marine petroleum exploitation becomes an important part of marine economy development gradually. Ocean bottom flying node (OBFN) is a kind of autonomous underwater vehicle which can explore marine petroleum and natural gas in large-scale deployment. This paper investigates the prescribed performance fault-tolerant trajectory tracking control method for an OBFN in presence of modeling uncertainties, ocean current disturbances, and thruster faults. By using a new performance function and an error transformation scheme, the proposed controller is able to achieve the desired tracking performance and the maximum convergence time is known as a priori. A disturbance observer is designed to deal with the influence of the modeling uncertainties, ocean disturbances, and thruster faults. The stability of the closed-loop OBFN system is proved by using Lyapunov theory. Finally, simulation results under different types of thruster faults illustrate the effectiveness of the proposed disturbance-observer-based prescribed performance fault-tolerant trajectory tracking controller.

Keywords

• Disturbance observer
• ocean bottom flying node
• prescribed performance
• trajectory tracking control