Event-Triggered Fault-Tolerant Control for Unmanned Surface Vehicles Based on an Intermediate Estimator

This paper primarily focuses on fault estimation for unmanned surface vehicles (USVs) and designs a controller that uses the estimated states and fault values to compensate for faults and stabilize the USVs system. First, considering networkinduced delays, the sampled data system is modeled as continuous-time with time-varying output delays. Second, under an event-triggered mechanism, an intermediate estimator is constructed to simultaneously estimate both the system fault and state. $\mathrm{H}_{\infty}$ constraints are established between estimation errors and output transmission errors, as well as between surface disturbances and estimation errors, in order to maintain robustness. Third, the event-triggered mechanism and fault-tolerant control(FTC) controller are co-designed to ensure closed-loop stability in the presence of faults while reducing sensor transmission communication. Finally, simulation results demonstrate the effectiveness of the proposed method.