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• W4220792350 endingPage "103126" @default.
• W4220792350 startingPage "103126" @default.
• W4220792350 abstract "A passive sliding-mode fault-tolerant control (FTC) scheme is developed in this paper for the dynamic positioning (DP) of ships to guarantee closed-loop finite-time stability in the presence of an actuator fault, a parameter uncertainty in the system and an unknown external disturbance. First, a novel nonsingular fast integral terminal sliding mode (NFITSM) which has more faster convergence rate and less chattering behavior is proposed to eliminate the singularity completely. Second, by integrating the proposed NFITSM and finite-time stability theory, a passive fault-tolerant controller is developed. Based on Lyapunov stability theory, global finite-time convergence of sliding mode and tracking errors is proved. A novel adaptive law is proposed to cope with real sliding mode constraints. Finally, the results of numerical simulation show that the proposed fault-tolerant controller successfully achieves good performance." @default.
• W4220792350 created "2022-04-03" @default.
• W4220792350 creator A5049949859 @default.
• W4220792350 creator A5053074824 @default.
• W4220792350 date "2022-05-01" @default.
• W4220792350 modified "2023-10-16" @default.
• W4220792350 title "Robust finite-time fault-tolerant control for dynamic positioning of ships via nonsingular fast integral terminal sliding mode control" @default.
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• W4220792350 doi "https://doi.org/10.1016/j.apor.2022.103126" @default.
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