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An adaptive linear parameter varying fault tolerant control scheme for unmanned surface vehicle steering control

This paper proposes an adaptive linear parameter varying (LPV) fault tolerant control approach with application to an unmanned surface vehicle (USV) steering control. First, an LPV baseline controller is designed to guarantee the acceptable tracking performance and stability of USV under time-varying operating states (distinct surge speed). Then, an adaptive fault estimation and compensating control mechanism combining with the baseline control strategy are synthesized to asymptotically stabilize the closed-loop system in the presence of actuator faults. Ultimately, simulations are conducted to validate the effectiveness of the proposed control methodology on a USV nonlinear model in the presence/absence of actuator faults and surge speed.