Fault Detection Filter And Controller Design For Unmanned Surface Vehicles

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