Fault-Tolerant Prescribed Performance Control of Ship Autopilot System Against Multiplicative Sensor Fault

This paper investigates the tracking control issue for the ship autopilot system with multiplicative sensor fault and unknown disturbance. In order to resolve this problem, we put forward a fault tolerant prescribed performance control approach. Two barrier functions are included in the control law to address the error constraint. It accomplishes reference tracking with the prescribed rate and precision, without the speciffc information about the multiplicative sensor fault and disturbance. Moreover, the proposed control preserves the simplicity of the controller, without identiffcation, approximation, estimation, or derivation. At last, a simulation study is given to demonstrate the aforementioned theoretical finding.