Tube-Based Model Predictive Control for Constrained Unmanned Marine Vehicles With Thruster Faults

In this article, the dynamic positioning (DP) control problem of constrained unmanned marine vehicles with thruster faults is investigated. To deal with the system constraints and thruster faults effect simultaneously, a codesign framework based on integral sliding mode control (ISMC) and model predictive control (MPC) is proposed. The main design challenge comes from the multiplicative uncertainty introduced by thruster faults, which may cause failures in the DP control with traditional MPC. To solve this problem, we propose to use an improved tube-based MPC in which a fault uncertain set can be characterized and the terminal set containing the fault factor can be derived. Combining the ISMC we show that, all possible trajectories of the unmanned marine vehicle are constrained in the tube for all possible realizations of uncertainties. Finally, the simulation results demonstrate the effectiveness of the proposed codesign framework.