Fault-tolerant supervisory control for dynamic positioning of ships

DOI10.1155/2019/9134952MaRDI QIDQ2298967zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/9134952

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Observability (93B07) Asymptotic stability in control theory (93D20)

Review text

Summary: A fault-tolerant supervisory control method for dynamic positioning of ships with actuator failures and sensor failures is presented in this paper. Unlike the traditional fault detection and control, fault detection and fault-tolerant controller are designed as a unit in this paper through a supervisor. By introducing a nonlinear estimation error and virtual controller, the sensor failures are separated from the actuator failures in the supervisory control system. It guarantees that the detectability property and matching property of the switched system are satisfied. Firstly, a new extended state observer is designed to match the models of different actuator failures. Secondly, by introducing a virtual controller, the detectability property of the switched system is guaranteed. Finally, a nonlinear estimation error operator is used in the designing of switching logic to guarantee stability of the closed-loop system with sensor failures. When sensor failures and actuator failures occur, we show that all the states of the closed-loop system are guaranteed to be bounded. The effectiveness of the fault-tolerant control is verified by simulation experiments.

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Cited in

(4)

• Integrated fault estimation and fault-tolerant control for dynamic positioning of ships
• Fault monitoring and fault recovery control for position-moored vessels
• Robust adaptive fault-tolerant control of dynamic positioning vessel with position reference system faults using backstepping design
• Intelligent control algorithm for ship dynamic positioning

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