Bumpless Transfer Fault-Tolerant Control for Mass-Switched Marine Vehicles: An Interpolation Function Approach

This paper explores the fault estimation and bumpless transfer fault-tolerant control issues for a class of mass-switched unmanned marine vehicles (UMVs) with discontinuous sensor faults. First, dynamic positioning systems of UMVs are modeled as the switched systems in the continuous-time domain to accurately capture their behavior. Second, a new learning-based observer is proposed to estimate the discontinuous sensor faults for the presented mass-switched UMVs. Third, on the basis of the estimated fault information, the interpolation-function-dependent dynamic output feedback fault-tolerant controller is developed to offset the faults and avoid the control bumps. Finally, the advantages and validity of the proposed strategies are verified by a practical example involving UMVs equipped with a detector.