This paper is concerned with the problem of fault-tolerant dynamic positioning (DP) for the marine surface vessels with sensor faults and unknown dynamics as well as random disturbances. It is anticipated that the requisite performance for the faulty system still holds, especially for the post-fault phrase, which remains open in the literature. In this paper, a fault-tolerant prescribed performance control approach is put forward to solve the problem. It achieves DP with the prescribed speed and accuracy in the sense that the DP errors evolve within the preselected performance envelops whenever the sensor faults happen. It is also inherently robust against the unknown vessel dynamics and ocean disturbances. Thus, the common assumptions on the partially known vessel nonlinearities and the differentiable disturbances are eliminated. On the other hand, there is no need for disturbance estimation, parameter identification, function approximation, fault detection, fault isolation or fault estimation, yielding a control simplicity. Finally, a pair of comparative simulations on Cybership II are carried out to validate the feasibility and advantage of the proposed approach.


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    Title :

    Robust Fault-Tolerant Dynamic Positioning of Marine Surface Vessels With Prescribed Performance


    Contributors:

    Published in:

    Publication date :

    2024-12-01


    Size :

    9186988 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Methods for positioning marine vessels

    ARBUCKLE JASON S / PRZYBYL ANDREW J / ANDRASKO STEVEN J | European Patent Office | 2020

    Free access