Robust MPC-Based Fault-Tolerant Control for Trajectory Tracking of Surface Vessel

A robust control method, based on a model predictive control, is developed for the trajectory tracking of a surface vessel with sensor failures. The kinematic model of a surface vessel is first obtained. The Lyapunov stability theory and linear matrix inequalities are then adopted to produce a closed-loop system that can have a fault-tolerant capability against sensor failures and to subsequently obtain the simulated results of a fault-tolerant controller through solving the linear matrix inequalities. The asymptotic tracking position, heading angle, and the velocities of the surface vessel can be obtained using the inputs of incomplete state information in the simulation. The feasibility and effectiveness of the proposed control method have been verified through simulation results.