Fault-Tolerant Control of Multi-USV Systems Based on Fuzzy Systems
Abstract: Multi-Unmanned Surface Vehicle Systems (Multi-USV Systems) play an increasingly important role in modern marine missions, widely applied in ocean monitoring, environmental protection, resource exploration, and military tasks. However, the complexity of the marine environment and the inherent risks of these missions pose significant challenges to the system, including unforeseen system failures, communication interruptions, and uncertainties brought by dynamic environments. These challenges can lead to partial or complete system failure, severely impacting the successful completion of missions. Therefore, designing an adaptive and robust fault-tolerant control strategy to ensure that Multi-USV systems can remain stable and efficient in the event of a failure has become a key research issue.
This paper proposes a fault-tolerant control method based on fuzzy systems, utilizing the powerful reasoning capabilities of fuzzy logic and its advantage in handling uncertain information. This method can detect faults in real-time and take effective control actions to ensure system stability and mission continuity when critical components of the system fail. By designing reasonable fuzzy rules and inference mechanisms, the proposed strategy can achieve effective fault-tolerant control of complex Multi-USV systems without relying on precise mathematical models. Simulation and experimental results demonstrate that the proposed method exhibits significant robustness in dealing with various failure scenarios, significantly improving the mission success rate of Multi-USV systems under faulty conditions.
Submission Number: 237
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