Journal
APPLIED OCEAN RESEARCH
Volume 80, Issue -, Pages 118-124Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.apor.2018.07.015
Keywords
Dynamic positioning; Thruster faults; 4Fault state observer; Dynamic surface control; Fault-tolerant control
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Funding
- National Natural Science Foundation of China [51579026, 51079013]
- Program for Liaoning Excellent Talents in University [LR2015007]
- Technology Foundation for Selected Overseas Chinese Scholar
- Ministry of Human Resources and Social Security of the People's Republic of China
- Fundamental Research Funds for the Central Universities [3132014332]
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This paper proposes a fault-tolerant control (FTC) scheme for dynamic positioning (DP) of vessels under thruster faults. A fault state observer is constructed to estimate the unknown fault states. An integrated FTC design method based on the fault state observer is presented for the DP system using the dynamic surface control (DSC) approach. Furthermore, the FTC forces and moment computed from the designed FTC law are allocated to individual thrusters through applying the Lagrange multiplier method. By means of Lyapunov functions, it is proved that the FTC law can maintain the vessel position and heading at the desired values, while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop DP FTC system of vessels under thruster faults. Finally, simulation studies on a 1:70 scale model of a supply vessel are carried out to demonstrate the effectiveness of the proposed FTC scheme.
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