Unmanned ship course fault-tolerant control method with input and state quantification

CN119472267AActive Publication Date: 2025-02-18DALIAN MARITIME UNIVERSITY
View PDF 5 Cites 0 Cited by

Patent Information

Application Number
CN202411439570.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-15
Publication Date
2025-02-18
Estimated Expiration
2044-10-15

AI Technical Summary

Technical Problem

During the course of unmanned ship heading control, the system may not work properly due to failure and the bandwidth of offshore communication is limited, which makes it difficult to transmit control signals. The existing technology rarely considers the fault tolerance of sensors and actuators.

Method used

The fault-tolerant control method of unmanned ship heading with input and state quantization is adopted to estimate the system state and uncertainty through an expanded state observer, quantify the system, and design a fault-tolerant subsystem to ensure that the system operates normally within the limited communication bandwidth.

Benefits of technology

The stability and fault tolerance of the unmanned ship's heading control system are realized, ensuring that the system can still operate normally when facing failures and communication bandwidth limitations, and improving navigation reliability.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN119472267A_ABST
    Figure CN119472267A_ABST
Patent Text Reader

Abstract

The invention provides an unmanned ship course fault-tolerant control method with input and state quantification, and the method comprises the steps: considering the fault factors of a sensor and an actuator in a USV fault-tolerant system, and designing a controller; an extended state observer is adopted to estimate the state variable and uncertainty of the system, and the quantized state variable is reconstructed; linear description is carried out on an input quantization process, and a controller does not need priori information of any quantization parameter; the stability of the controller and the observer is proved by using the Lyapunov stability theory, and the whole closed-loop system is finally consistent and bounded. According to the method, fault factors are considered in the ship motion control process, and control input and state variables of the system are processed by adopting a quantification technology. In the simulation process, a sign function in the control law is replaced with a saturation function to prevent buffeting, and the effectiveness of the unmanned ship course fault-tolerant control strategy with input and state quantization is verified.
Need to check novelty before this filing date? Find Prior Art

Citation Information

Patent Citations

  • Adaptive fault-tolerant control method based on sliding mode quantization output feedback

    CN110687798A

  • Unmanned ship course tracking control method with state / input quantization

    CN116540728A

  • Finite time self-adaptive fault-tolerant control method and system for multi-joint rigid mechanical arm

    CN116749195A

  • Unmanned ship finite time course tracking control method with state quantization and input quantization

    CN117055564A

  • Unmanned ship course tracking control method with signal quantization and event triggering mechanism

    CN117631540A