Zhang, G, Yao, M, Zhang, W and Zhang, W (2021) Improved composite adaptive fault-tolerant control for dynamic positioning vehicle subject to the dead-zone nonlinearity. IET Control Theory and Applications, 15 (16). pp. 2067-2080. ISSN 1751-8644

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Abstract

In order to tackle the marine practical constraints, for example the actuator faults, the dead-zone input, an improved composite adaptive neural control algorithm is proposed for dynamic positioning vehicles in presence of the unknown external disturbances. In the algorithm, the robust neural damping technique is employed to remodel the system model uncertainty and suppress the external interference. As for the dead-zone input, the dead-zone inverse model is constructed to derive the corresponding compensating terms. That could effectively release the constraints from the actuator faults and the dead-zone non-linearity. Furthermore, for merits of the composite intelligent learning method, one designs the serial-parallel estimation model to estimate the related velocity variables. The corresponding prediction error could be applied in the design of adaptive law. That could effectively improve the accuracy of parameter estimation and facilitate the robustness of the closed-loop system. The semi-global uniformly ultimately bounded stability is guaranteed for all error signals in the closed-loop system by utilizing the Lyapunov theory. Finally, the validity of the proposed algorithm is demonstrated through the simulation experiments.

Item Type:	Article
Uncontrolled Keywords:	4007 Control Engineering, Mechatronics and Robotics; 40 Engineering; 4001 Aerospace Engineering; 4010 Engineering Practice and Education; 0102 Applied Mathematics; 0906 Electrical and Electronic Engineering; 0913 Mechanical Engineering; Industrial Engineering & Automation; 4007 Control engineering, mechatronics and robotics; 4008 Electrical engineering; 4901 Applied mathematics
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions:	Engineering
Publisher:	Institution of Engineering and Technology (IET)
SWORD Depositor:	A Symplectic
Date Deposited:	25 Mar 2025 12:05
Last Modified:	25 Mar 2025 12:15
DOI or ID number:	10.1049/cth2.12176
URI:	https://researchonline.ljmu.ac.uk/id/eprint/25995

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