Fault-tolerant Control for Unmanned Marine Vehicles subject to Mismatched Quantization

This paper investigates the fault-tolerant control (FTC) problem for unmanned marine vehicles (UMVs) subject to mismatched quantization and thruster faults via sliding mode output feedback control. The mismatch ratio of the quantization sensitivity paramaters is regarded to be time-varying within an interval, which is more applicable in practical quantizers than the consistent mismatch ratio. The compensator-based sliding-mode output feedback controller is effective to compensate for thruster faults and quantization errors, and ensure the asymptotic stability of UMV systems. Finally, the simulation results have illustrated the validity of the proposed method.