Mixed-Gain Adaption-Based Fault-Tolerant Prescribed Performance Control of Marine Surface Vessels

This paper addresses the challenge of trajectory tracking control in the marine surface vessels (MSVs) subject to actuator faults. It aims to demonstrate that the essential performance for the faulty system still can be maintained, especially for the post-fault phrase, which remains open in the literature. A new mixed-gain adaptation technique, which is efficiently integrated with the robust prescribed performance control approach, is proposed to tackle this challenge. The developed control scheme ensures trajectory tracking of the MSV within the predetermined accuracy and convergence time, against the model uncertainties, the actuator faults and the disturbances. On the other hand, there is no need for disturbance estimation, parameter identification, function approximation, fault detection, fault isolation or fault estimation, yielding a control simplicity. Finally, a simulation on Cybership II are carried out to validate the feasibility of the proposed approach.