Fixed-time adaptive fault-tolerant control for marine vehicles with actuator faults

This study investigates the fixed-time prescribed tracking control problem for the ship heading control system subject to marine stochastic noise and actuator faults. First, the fuzzy logic system (FLS) is used to approximate the unknown nonlinear terms. Then, a fault compensation mechanism based on an adaptive technique is developed to handle the actuator faults. Next, a fixed-time performance function is introduced to address the output tracking error constraint issue and make the output follow the reference signal within a fixed time. Furthermore, a fixed-time prescribed tracking controller and adaptive laws are designed. Within the proposed control framework, the tracking error is demonstrated to conform to the fixed-time prescribed performance. Furthermore, all closed-loop signals are bounded in probability, as substantiated through the application of stochastic Lyapunov stability theory. Finally, a series of simulation experiments is conducted to validate the efficacy of the proposed algorithm.