带有执行器故障的无人船的基于模糊逻辑系统的容错控制（英文）-豆柴文库

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带有执行器故障的无人船的基于模糊逻辑系统的容错控制（英文）
Introduction
Withtheadventoftechnology,unmannedvehicleshavegainedimmensepopularityacrosstheglobe.Unmannedsurfacevehicles(USVs)havebecomereliablealternativestotraditionalmannedsystems.TheabilityofUSVstoperformtasksspanningfromscientificresearchtooceanpatrollingincreasesthenecessityofensuringsystemperformanceoptimization.Inthispaper,weexploretheuseofafuzzylogic-basedfault-tolerantcontrolsystemforunmannedsurfacevehiclesexperiencingactuatorfaults.
Background
USVsystemsrelyondifferentsystemstooperate.Actuatorsystemsarecomponentsofunmannedvehiclesthatofferpropulsionandsteering.ThesecomponentsareessentialinexecutingtheintendedobjectivesoftheUSV.ActuatorfaultisacommonissuewithUSVs,anditcancausesevereconsequenceswhenleftuncontrolled.Forinstance,theUSVmayexperienceimpreciseheadingcontrol,reducedspeed,increasedpowerconsumption,and,inextremecircumstances,lossofcontrol.Severaltechniqueshavebeenproposedforactuatorfaultdiagnosis,prediction,andcontrol.Unfortunately,lackofprecision,robustness,andfaultmitigatingcapabilitieshavelimitedtheirpracticalityinindustrialsettings.
FuzzyLogic-BasedFault-TolerantControl
Fuzzylogic-basedsystemshaveshownremarkableperformanceinmodelingreal-worldsystems.Thesystemsareefficientinencodingadvicefromexperts,andtheydemonstraterobustnessinuncertainandcomplexsystems.Afuzzylogic-basedfault-tolerantcontrolsystemexploitsthisinherentcapabilitywherebyitprovidessatisfactoryserviceswhenencounteringactuatorfaults.ThesystemisdesignedtotoleratefaultsbyensuringtheUSVmaintainsacceptablecontrolperformancedespitethefailureofitscriticalcomponents,suchasactuators.
FuzzyRule-BasedControl
Afuzzyrule-basedcontrolarchitectureisadoptedinthispaper.Thearchitecturecomprisesfuzzylogicandclassicalcontrolconceptsthataresuperimposedtoofferimprovedsystemperformancewhenexperiencingactuatorfaults.Theproposedsystemintegratestwocriticalcomponents,namely,faultdetectionanddiagnosis(FDD)andfault-tolerantcontrol(FTC).Thearchitectureisdesignedtodetectanddiagnosefa