Quantized integral sliding mode control for dynamic positioning vessel with time-varying delay and thruster faults

Abstract

This paper presents a novel fault-tolerant control strategy for dynamic positioning vessel, integrating time-varying delay and signal quantization. Firstly, a novel approach is introduced that expands the range of quantization parameters to enhance control design flexibility. Compared to existing literature, the dynamic adjustment strategy effectively mitigates the relationship between system stability and computational burden. Within this new framework, in the event of thruster faults, an integral sliding mode controller is proposed to immediately compensate for negative effects, stabilizing the system state from the beginning. Finally, comparative simulation results demonstrate the efficacy of the proposed approach.