Sliding mode fault-tolerant control method of T-S fuzzy UMV

A fault-tolerant control and fault-tolerant controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as delay, failure, and false alarm

Active Publication Date: 2020-03-13
DALIAN MARITIME UNIVERSITY
View PDF11 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, thrusters can also experience various failures, such as partial failure, interruption and time-varying jamming
Existing technologies and methods only consider the single problem, and cannot achieve the control goal in the case of UMV with time-varying state delay and thruster failure
In addition, if the fault detection and diagnosis module is used to achieve fault-tolerant control, there may be a risk of delay or false negative

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Sliding mode fault-tolerant control method of T-S fuzzy UMV
  • Sliding mode fault-tolerant control method of T-S fuzzy UMV
  • Sliding mode fault-tolerant control method of T-S fuzzy UMV

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0065] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0066] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a sliding mode fault-tolerant control method of T-S fuzzy UMV. The method comprises the steps of S1, establishing a T-S fuzzy UMV time-varying delay system model based on a T-Sfuzzy model method; S2, designing a sliding mode surface based on the T-S fuzzy UMV time-varying delay system model; and S3, designing a self-adaptive switching sliding mode fault-tolerant controllerbased on the sliding mode surface designed in the step S2. According to the technical scheme, dynamic positioning of the UMV can be achieved under the conditions that the propeller breaks down and theUMV has state time-varying delay; a fault detection and diagnosis module is not needed; and the possible propeller fault information delay or missing report phenomenon is avoided. The problem that inthe prior art, single consideration is given to propeller faults and the situation that UMV has state time-varying delay is solved.

Description

technical field [0001] The invention relates to the technical field of fault-tolerant control of unmanned vehicles, in particular to a sliding mode fault-tolerant control method of T-S fuzzy UMV. Background technique [0002] With the continuous development of marine development, it is of great significance to perform more precise dynamic positioning control on UMV in complex marine environments. Control technology is the core of dynamic positioning, and the sliding mode fault-tolerant control has the characteristics of good robustness, which is of extraordinary value for improving the performance of dynamic positioning. Related prior art is disclosed as follows: [0003] The document "Network-Based T–S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles" proposes a T-S fuzzy dynamic positioning controller design method for UMV in a network environment. Based on the T-S fuzzy model, the T-S fuzzy UMV model is established; and considering the asynchrono...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 郝立颖张赫李铁山李辉
Owner DALIAN MARITIME UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap