Dynamic Event-Triggered Output Feedback Fault-Tolerant Control for Dynamic Positioning of Unmanned Surface Vehicles With Multiple Estimators

This paper investigates the problem of dynamic event-triggered output feedback fault-tolerant control (FTC) and design method of states/distrubances/faults estimation for unmanned surface vehicles (USVs). A rectangular singular system is firstly introduced by transforming the sensor faults as part of the states. Then, multiple estimators are constructed to estimate states/distrubances/faults. Specially, a novel intermediate estimator-assisted proportional-integral observer (PIO) is constructed to simultaneously estimate systems states, sensor and actuator faults. By utilizing the output of PIO, a disturbance observer is designed to reconstruct the external disturbances. Supported by these estimation information, a dynamic event-triggered output feedback controller is well designed to ensure the desired performance. By means of linear matrix inequalities (LMIs), the convergence of all signals in closed-loop system are proved via Lyapunov stability theory. Finally, the effectiveness of the designed controller is verified by a simulation example.