Takagi-Sugeno Fuzzy Model-based Fault Tolerant Control for Unmanned Marine Vehicles with Thruster Faults

This paper presents a fault tolerant control problem for unmanned marine vehicles (UMVs) with thruster faults based on Takagi-Sugeno (T-S) fuzzy model. Considering that the yaw angle varies in a certain range, a T-S fuzzy model is established to describe the UMVs dynamics accurately, which will be useful for fault tolerant controller design. The unknown lower bounds of thruster faults are estimated through adaptive laws online. By using membership function information, a novel sliding mode fault tolerant controller is designed to compensate for the effects of thruster faults and ocean disturbances. Different from the existing result, our proposed fault tolerant strategy does not depend on a fault detection and identification (FDI) module. Finally, the comparison simulation results demonstrate the effectiveness of the proposed method.