Integrated Sliding Mode Fault- Tolerant Control for Dynamic Positioning T-S Fuzzy Models of Unmanned Marine Vehicles with Thruster Saturation

This research focuses on addressing the fault-tolerant control (FTC) issue in the context of Takagi-Sugeno (T-S) fuzzy models applied to unmanned marine vehicles (UMVs) with saturation phenomenon. Firstly, considering the saturation and faults of the thrusters, the corresponding T-S fuzzy models for UMV s are established. a novel strategy for integral sliding mode control (ISM C) is developed to address the impact of thruster faults, saturation and ocean disturbances. In contrast to conventional integral sliding mode approaches, this study simultaneously integrates thruster saturation and fault estimation information to construct the sliding surface, thereby reducing conservatism. Ultimately, the comparative simulations have show-cased the effectiveness of the proposed scheme.