State Recovery and Fault-Tolerant Control of Autonomous Surface Vehicle With Actuator and Sensor Faults

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Xuerao Wang, Qingling Wang, Xiang Cao, Yuncheng Ouyang, Changyin Sun

Published: 01 Jan 2025, Last Modified: 04 Nov 2025IEEE Trans. Intell. Veh. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: This paper is concerned with the trajectory tracking problem for autonomous surface vehicles (ASVs) subject to simultaneous actuator and sensor faults. An output-feedback multiple fault-tolerant control (MFTC) scheme is proposed by using inaccurate position-heading measurement only. First, a modified extended state observer (ESO) is proposed to simultaneously achieve the state recovery of position-heading and non-measurable velocities under unknown dynamics and external disturbances. To eliminate the effect of multiple faults, separated adaptive compensation mechanisms are introduced to estimate various fault factors individually. Based on the proposed ESO and estimated factors, an adaptive output-feedback MFTC strategy is explored to stabilize the closed-loop control system in the presence of multiple faults. It is proven that the proposed controller guarantees that all signals in the closed-loop control system are bounded, including tracking error, observer error, and estimation errors. Finally, simulation results with several cases are provided to demonstrate the effectiveness of the proposed MFTC method.