Finite-Time Fault-Tolerant Control of Underactuated Surface Vessels with Input Saturation

This study explores fault-tolerant control strategies for underactuated vessels (USVs) under input saturation conditions. First, through the state transition method, the transverse and longitudinal errors of the USV are radically transformed. By fusing these errors, a comprehensive error variable is formed. Then, a finite-time disturbance observer (FTDO) is used to compensate for system external disturbances and bias faults accurately. In addition, adaptive technology is used to establish an online approximator to reconstruct the uncertain dynamics within the system online. This study uses the Lyapunov stability theory to conduct a thorough stability analysis of the USV's tracking system. Finally, the effectiveness of the proposed control strategy is verified through simulation results.