Physics

Geology

Control engineering

Trajectory

Nonlinear system

Tracking error

Pedagogy

Sliding mode control

Agronomy

Biology

Astronomy

Engineering

Actuator

Artificial intelligence

Psychology

Fuzzy control system

Seismology

Controller (irrigation)

Fault (geology)

Control (management)

Tracking (education)

Integral sliding mode

Computer science

Quantum mechanics

Control theory (sociology)

Fuzzy logic

IEEE Transactions on Systems Man and Cybernetics Systems

This article presents a fault-tolerant tracking control strategy for Takagi–Sugeno fuzzy model-based nonlinear systems which combines integral sliding mode control with adaptive control technique. Two common actuator faults: 1) loss of effectiveness and 2) increased bias input, are considered simultaneously. The fuzzy tracking control system is first established by incorporating the integral term of the output tracking error. Then, an appropriate fuzzy integral switching surface is designed such that the corresponding sliding motion only suffers from the unamplified unmatched disturbance. The solution of the nominal tracking controller can be transformed into a to convex optimization problem. In particular, an adaptive fuzzy sliding mode tracking controller is synthesized to ensure the accessibility of the sliding motion despite the effect of actuator faults and unknown disturbances. Finally, the proposed tracking strategy is verified by applying it to the dynamic positioning control of unmanned marine vehicles.

Adaptive Sliding Mode Fault-Tolerant Fuzzy Tracking Control With Application to Unmanned Marine Vehicles