Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 19, Issue 9, Pages 3168-3178Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-019-0913-8
Keywords
Dynamic positioning; fault tolerant control; finite-time; thruster faults
Categories
Funding
- Dalian Science and Technology Innovation Fund Program [2020JJ26GX020]
- Postgraduate Innovation Talent Training Project [CXXM2019BS003]
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This paper presents a novel robust adaptive finite-time fault-tolerant control scheme for dynamic positioning of vessels, addressing thruster faults, unknown model parameters, and environmental disturbances. By incorporating finite-time control technique, neural networks technique, and sliding mode differentiator, the proposed FTC strategy ensures the vessel reaches the desired position and heading in finite time while maintaining the boundedness of all signals in the closed-loop system. Simulation results demonstrate the effectiveness of the proposed FTC scheme.
In this paper, a novel robust adaptive finite-time fault-tolerant control (FTC) scheme is presented for the dynamic positioning (DP) of vessels under thruster faults with unknown model parameters and environmental disturbances. The thruster effectiveness factor to express the loss-of-effectiveness fault state is transformed into a new unknown parameter, which is obtained by the adaptive law. Furthermore, based on the finite-time control technique, neural networks (NNs) technique and the sliding mode differentiator, a novel robust adaptive finite-time FTC strategy is developed for DP of vessels by resorting the backstepping design technique. It is theoretically proved that the proposed FTC scheme can force the vessel arrive at the desired position and heading in a finite time, while guaranteeing the boundedness of all signals in the closed-loop of DP control system. Simulation study results are provided to demonstrate the effectiveness of the proposed FTC scheme.
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