FDF and Controller Coordinated Design for UMVs

This chapter deals with the network-based modeling, and observer-based FDFFault Detection Filter (FDF) and controller coordinated design for a UMVUnmanned Marine Vehicles (UMVs) in network environments. Network-based models for the UMVUnmanned Marine Vehicles (UMVs) subject to actuator faults and wave-induced disturbances are established by introducing an observer-based FDFFault Detection Filter (FDF). Based on these models, network-based FDF and controller coordinated design criteria are derived to asymptotically stabilize the residual system.