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<p>This paper investigates fault-tolerant course control of the unmanned surface vehicle (USV) in the presence of input and state quantization. In the design of the controller, the failure factor of sensors and actuators is considered for the fault-tolerant system of USV. An extended state observer (ESO) is adopted to estimate the variables and uncertainties of the system, and quantized state variables are reconstructed. In addition, the input quantization process is described linearly, so that the controller does not require any prior knowledge of the quantized parameters. The stability of the controller and the observer are proved by using the Lyapunov stability theory, the entire closed-loop system is ultimately uniformly bounded. During the simulation, the saturation function is used instead of the sign function in the control law to prevent jitter, and the effectiveness of the proposed strategy is verified.</p>

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Fault-Tolerant Control of Unmanned Surface Vehicle with Input and State Quantization

  • 期刊论文

  • 发表日期：

    2025年2月8日

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  • Jun Ning,
  • Ruoyu Cui,
  • Tieshan Li,
  • Lu Liu

摘要

This paper investigates fault-tolerant course control of the unmanned surface vehicle (USV) in the presence of input and state quantization. In the design of the controller, the failure factor of sensors and actuators is considered for the fault-tolerant system of USV. An extended state observer (ESO) is adopted to estimate the variables and uncertainties of the system, and quantized state variables are reconstructed. In addition, the input quantization process is described linearly, so that the controller does not require any prior knowledge of the quantized parameters. The stability of the controller and the observer are proved by using the Lyapunov stability theory, the entire closed-loop system is ultimately uniformly bounded. During the simulation, the saturation function is used instead of the sign function in the control law to prevent jitter, and the effectiveness of the proposed strategy is verified.