Actuator fault-tolerant control of ocean surface vessels with input saturation

In this paper, an actuator robust fault-tolerant control is proposed for ocean surface vessels with parametric uncertainties and unknown disturbances. Using the backstepping technique and Lyapunov synthesis method, the adaptive tracking control is first developed by incorporating the actuator configuration matrix and considering actuator saturation constraints. The changeable actuator configuration matrix caused by rotatable propulsion devices is considered. Next, the actuator fault-tolerant control is developed for the case when faults occur in propulsion devices of the ocean surface vessel. Rigorous stability analysis is carried out to show that the proposed fault-tolerant control can guarantee the stability of the closed-loop system under certain actuator failure. Finally, simulation studies are given to illustrate the effectiveness of the proposed adaptive tracking control and fault-tolerant control.