Fault-Tolerant Cooperative Formation Control for Heterogeneous Ships: Application to the Obstacle Avoidance Maneuvering

This study presents an adaptive quantized control algorithm designed to address actuator faults and achieve obstacle avoidance for heterogeneous ships. Within this algorithm, a hysteresis quantizer is employed to minimize communication resource utilization. Novel adaptive compensation mechanism is introduced to counteract actuator faults. Additionally, the radial basis function neural networks (RBF-NNs) are utilized to approximate the uncertainties inherent in the ship model. Further adaptive parameters are incorporated to mitigate perturbation errors arising from mismatches between the quantizer and the ships’ unknown parameters. Stability is rigorously established through the construction of a direct Lyapunov function, demonstrating that all signals within the closed-loop system satisfy Semi-Globally Uniformly Ultimately Bounded (SGUUB). To validate the superiority of the proposed algorithm, simulation experiments are conducted for obstacle avoidance mission of marine heterogeneous system.