Saturation-tolerant prescribed function-based adaptive fault-tolerant tracking control for ACV with uncertainty and faults

This paper presents an adaptive fault-tolerant control system for Trajectory tracking of air-cushioned vehicles (ACVs) in the presence of actuator saturation, internal and external system perturbations. The proposed approach utilizes a state observer to estimate and compensate for the disturbances and saturation fault information present in the tracking system of the ACV. To achieve the desired performance, a new prescribed performance function (PPF) is introduced that is both global and saturated-tolerant. The PPF ensures that the error converges to a predetermined function in fixed time for any initial value, although it weakens the limits on the amount of overshoot. The combination of the observer and PPF with a backstepping fault-tolerant controller leads to improved transient and steady-state performance of the tracking control system for ACV. Simulation results demonstrate the effectiveness of the proposed approach.