Fuzzy Fault Detection Observer Design for Unmanned Marine Vehicles Based on Membership-Function-Dependent H∞/H_ Performance

This paper studies the design problem of fault detection (FD) observer for unmanned marine vehicles (UMVs) based on the T-S fuzzy model. Firstly, T-S fuzzy systems are used to approximate the nonlinear dynamics in UMVs. Secondly, to improve the FD performance of UMVs, a new H∞/H_ performance index, which depends on the membership functions, is defined. Then, based on the membership-function-dependent H∞/H_ performance index, a new fuzzy FD observer strategy, where the fuzzy submodels are not all required to be with the same H_ performance index, is developed to detect the sensor fault in UMVs; the corresponding synthesis conditions of the FD observer are derived based on the Lyapunov theory. Different from the conventional FD strategies, in the proposed membership-function-dependent FD method, the fuzzy submodels—which the system always works on—can have a larger H_ performance index, such that the performance of the FD can be improved. In the end, an example is given to show the effectiveness of the presented method.