Network-Based Fault Detection Filter and Controller Coordinated Design for Unmanned Surface Vehicles in Network Environments

摘要

This paper is concerned with the network-based modeling, and observer-based fault detection filter (FDF) and controller coordinated design for an unmanned surface vehicle (USV) in network environments. Network-based models for the USV subject to actuator faults and wave-induced disturbances are established for the first time by introducing an observer-based FDF, and considering network-induced characteristics such as delays and packet dropouts in the sampler-to-control station communication network channel and the control station-to-actuator communication network channel. Based on these models, network-based FDF and controller coordinated design criteria are derived to asymptotically stabilize the residual system. The designed network-based FDF and controller can guarantee the sensitivity of the residual signal to faults and the robustness of the USV to external disturbances. Fault detection performance analysis verifies the effectiveness of the proposed network-based FDF and controller coordinated design scheme for the USV in network environments.