Passive Fault-Tolerant Augmented Neural Lyapunov Control: A method to synthesise control functions for marine vehicles affected by actuators faults

Closed-loop stability of control systems can be undermined by actuator faults. Redundant actuator sets and Fault-Tolerant Control (FTC) strategies can be exploited to enhance system resiliency to loss of actuator efficiency, complete failures or jamming. Passive FTC methods entail designing a fixed-gain control law that can preserve the...