Output Feedback Thruster Fault-Tolerant Control for Dynamic Positioning of Vessels Under Input Saturation

In this paper, an output feedback fault-tolerant control (FTC) scheme is presented for the dynamic positioning of vessels subjected to external disturbances, dynamic uncertainties, and thruster saturation constraints under thruster faults. A high-gain observer is constructed to acquire the estimates of vessel velocities. An auxiliary dynamic system is introduced to compensate the effect of the thruster faults and saturation constrains. Neural network with iterative updating laws is employed to approximate the lumped uncertainties caused by unknown environmental disturbances and dynamic uncertainties of vessels. Furthermore, the control allocation is accomplished to distribute the FTC forces and moment among individual thrusters. It is theoretically proved that the derived FTC scheme has the capability to maintain the vessel position at the desired values and guarantees that all signals in the closed-loop control system are uniformly ultimately bounded. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme.

[1]  Qing-Long Han,et al.  Network-Based Fault Detection Filter and Controller Coordinated Design for Unmanned Surface Vehicles in Network Environments , 2016, IEEE Transactions on Industrial Informatics.

[2]  Yang Yang,et al.  Robust adaptive NN-based output feedback control for a dynamic positioning ship using DSC approach , 2014, Science China Information Sciences.

[3]  K. D. Do.  Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[4]  Lu Liu,et al.  Adaptive output feedback control for cooperative dynamic positioning of multiple offshore vessels , 2014, 2014 International Joint Conference on Neural Networks (IJCNN).

[5]  Kevin Warwick,et al.  A dynamic positioning thrust allocation approach based on a hybrid artificial colony bee algorithm with chaotic search , 2014, Int. J. Model. Identif. Control..

[6]  T.I. Fossen,et al.  Kalman filtering for positioning and heading control of ships and offshore rigs , 2009, IEEE Control Systems.

[7]  Shaocheng Tong,et al.  Fuzzy Adaptive Actuator Failure Compensation Control of Uncertain Stochastic Nonlinear Systems With Unmodeled Dynamics , 2014, IEEE Transactions on Fuzzy Systems.

[8]  Sauro Longhi,et al.  Fault-tolerant variable structure control of an overactuated Dynamic Positioning vessel after thruster failures , 2012 .

[9]  Thor I. Fossen,et al.  Passive nonlinear observer design for ships using Lyapunov methods: full-scale experiments with a supply vessel , 1999, Autom..

[10]  C. L. Philip Chen,et al.  Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[11]  Roger Skjetne,et al.  Time-Varying Model-Based Observer for Marine Surface Vessels in Dynamic Positioning , 2017, IEEE Access.

[12]  Hao Wang,et al.  Containment control of networked autonomous underwater vehicles with model uncertainty and ocean disturbances guided by multiple leaders , 2015, Inf. Sci..

[13]  Sung Jin Yoo,et al.  Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties , 2016 .

[14]  Asgeir J. Sørensen,et al.  A survey of dynamic positioning control systems , 2011, Annu. Rev. Control..

[15]  João Pedro Hespanha,et al.  Switching between stabilizing controllers , 2002, Autom..

[16]  Jialu Du,et al.  Adaptive fuzzy controller design for dynamic positioning system of vessels , 2015 .

[17]  Woei Wan Tan,et al.  A type-2 fuzzy logic controller for dynamic positioning systems , 2010, IEEE ICCA 2010.

[18]  Sauro Longhi,et al.  Advanced control for fault-tolerant dynamic positioning of an offshore supply vessel , 2015 .

[19]  Asgeir J. Sørensen,et al.  Hybrid controller concept for dynamic positioning of marine vessels with experimental results , 2018, Autom..

[20]  Guoqing Xia,et al.  Dynamic Positioning Control System with Input Time-Delay Using Fuzzy Approximation Approach , 2018, Int. J. Fuzzy Syst..

[21]  Thor I. Fossen,et al.  Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping , 1998, IEEE Trans. Control. Syst. Technol..

[22]  Tristan Perez,et al.  Constrained control design for dynamic positioning of marine vehicles with control allocation , 2009 .

[23]  Jialu Du,et al.  Thruster fault-tolerant control for dynamic positioning of vessels , 2018, Applied Ocean Research.

[24]  Yongming Li,et al.  Observer-Based Adaptive Decentralized Fuzzy Fault-Tolerant Control of Nonlinear Large-Scale Systems With Actuator Failures , 2014, IEEE Transactions on Fuzzy Systems.

[25]  Shuzhi Sam Ge,et al.  Robust Adaptive Control for a Class of MIMO Nonlinear Systems by State and Output Feedback , 2014, IEEE Transactions on Automatic Control.

[26]  Inseok Hwang,et al.  A Survey of Fault Detection, Isolation, and Reconfiguration Methods , 2010, IEEE Transactions on Control Systems Technology.

[27]  Bin Jiang,et al.  Adaptive control and constrained control allocation for overactuated ocean surface vessels , 2013, Int. J. Syst. Sci..

[28]  Antonio Loría,et al.  A separation principle for dynamic positioning of ships: theoretical and experimental results , 2000, IEEE Trans. Control. Syst. Technol..

[29]  Tristan Perez,et al.  Dynamic positioning of marine craft using a port-Hamiltonian framework , 2012, Autom..

[30]  Shuzhi Sam Ge,et al.  Dynamic Load Positioning for Subsea Installation via Adaptive Neural Control , 2010, IEEE Journal of Oceanic Engineering.

[31]  Tor Arne Johansen,et al.  Fault tolerant control allocation using unknown input observers , 2014, Autom..

[32]  Helio Mitio Morishita,et al.  Dynamic positioning systems: An experimental analysis of sliding mode control , 2010 .

[33]  Mingyang Li,et al.  Finite-Time Trajectory Tracking Fault-Tolerant Control for Surface Vessel Based on Time-Varying Sliding Mode , 2018, IEEE Access.