Fault-tolerant control for constrained unmanned marine vehicles based on model predictive control with integral sliding mode control

In this paper, a fault-tolerant control method for dynamic positioning of constrained unmanned marine vehicles is investigated. Due to the optimization essence, model predictive control can explicitly solve the practical constraints of the system, meanwhile, considering the robustness of integral sliding mode control, the effect of system uncertainties can be compensated. Hence, the proposed control scheme is based on the combination of model predictive control and integral sliding mode control. The inner integral sliding mode control loop is designed to compensate the thruster faults and reject the ocean disturbances. While the external model predictive control loop can ensure an optimal solution of the dynamic system with the constraints on state and input variables. Finally, the effectiveness of our proposed fault tolerant control scheme is demonstrated in the simulation.