Advanced control for fault-tolerant dynamic positioning of an offshore supply vessel

Benetazzo, Flavia; Ippoliti, Gianluca; Longhi, Sauro; Raspa, Paolo

doi:10.1016/j.oceaneng.2015.07.001

Cited by 48 publications

(25 citation statements)

References 39 publications

(57 reference statements)

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“…The identified model fulfills both, the observability and controllability properties. Integral action is required in order to minimize the steady-state position error and constant or slow disturbances [17], [18]. Plant augmentation with the integral of the tracking error is a common procedure used for design purposes, this illustrated in the Figure 9, where the feedback gain matrix is applied to the augmented state.…”

Section: Identification Of Rov Model Without Disturbancementioning

confidence: 99%

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Muñoz-Aldana

Gaviria-López

2019

ITECKNE

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This article presents a virtual environment based on co-simulation between MatLab and MSC Adams, allowing simulation, analysis, development and validation of control strategies for tracking of position trajectories of a Remotely Operated Vehicle (ROV). The simulation results in the horizontal plane show that it is possible, in an uncomplicated way, to construct a virtual environment, which allows observing realistic movements when the forces exerted on an ROV are provided. Taking advantage of the properties of co-simulation, the experiences in this work show that this simulation strategy is very suitable for analysis purposes and control design, allowing researchers and professionals the wide use of control tools available in MATLAB for this end. In this work, a robust linear quadratic regulator (LQR) with integral action has been used to evaluate the performance of the proposed virtual environment for tracking of position trajectories. To validation purposes, widely used trajectories in naval study designs were employed such as the Zig -Zag shaped and the Circular shaped trajectories. Simulation results show that the integration of both, MatLab and MSC Adams, effectively addressees the problem of evaluation of performance of control strategies in the virtual environment. The presented approach allows gaining experience about the challenges of this kind of control problems, before dealing with the complex aspects of tuning in real experimental environments, avoiding losses and cost overruns for underwater robotics projects.

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Section: Identification Of Rov Model Without Disturbancementioning

confidence: 99%

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Muñoz-Aldana

Gaviria-López

2019

ITECKNE

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“…Andrea and Tor utilized an unknown input observer technique to produce a fault detection and isolation (FDI) mechanism for an overactuated marine vessel [5]. Fault detection and diagnosis mechanism, based on two techniques: the parity space approach and the Luenberger observer, was proposed to guarantee a fault-tolerant robust control for the dynamic positioning of an overactuated offshore supply vessel [12]. Du et al constructed an iterative learning observer to estimate the fault signal and combined the pseudoinverse method to generate a fault-tolerant controller for the dynamic positioning system [13].…”

Section: Introductionmentioning

confidence: 99%

Fault‐Tolerant Supervisory Control for Dynamic Positioning of Ships

Lin

Liang

et al. 2019

Mathematical Problems in Engineering

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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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“…Andrea and Tor utilized an unknown input observer (UIO) technique to produce a fault detection and isolation mechanism for an overactuated marine vessel [8]. Fault detection and diagnosis mechanism, based on two techniques: the parity space approach and the Luenberger observer, was proposed to guarantee a fault-tolerant robust control for the dynamic positioning of ships [9]. A fault-tolerant supervisory controller was designed based on the certainty equivalence principle, which could solve both sensor and actuator faults of ships [10].…”

Section: Introductionmentioning

confidence: 99%

“…However, most of the current studies of FTC for DPS are carried out as two separate entities, fault estimation and fault-tolerant control, such that it is difficult to determine whether or not fault estimation satisfies high requirement for the fault-tolerant controller. Moreover, there exists the time delay problem in the fault-tolerant control strategies in [8,9,12] due to using the fault detection and the isolation (FDI) module.…”

Section: Introductionmentioning

confidence: 99%

“…Instead, in the proposed work, such assumption is not needed. (2) Unlike in [8,9,12]where fault detection and isolation and fault-tolerant control are designed separately, in this paper, the fault estimation and the FTC are simultaneously considered, and their coupling problem can be effectively solved. (3) is paper is concerned with the fault-tolerant control design problem with a general actuator fault mode.…”

Section: Introductionmentioning

confidence: 99%

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Integrated Fault Estimation and Fault‐Tolerant Control for Dynamic Positioning of Ships

Lin

Jiang

et al. 2019

Mathematical Problems in Engineering

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An integrated fault estimation and fault-tolerant control scheme is developed in this paper for dynamic positioning of ships in the presence of an actuator fault. First, an auxiliary derivative output of dynamic positioning ships is constructed in order to satisfy the so-called observer matching condition, and a high-gain observer is designed to exactly estimate the auxiliary derivative outputs. Then, a fault-tolerant controller is developed for dynamic positioning ships based on the iterative learning observer. By means of Lyapunov–Krasovskii stability theory, it is proved that the proposed fault-tolerant controller is able to estimate the total fault effects and states of ships accurately via the iterative learning observer and also to stabilize the closed-loop system. In addition, the parameter design of the proposed fault-tolerant control system can be conveniently solved in terms of linear matrix inequalities. Finally, simulation studies for dynamic positioning ships with actuator faults are carried out, and the results validate the effectivity of the proposed fault-tolerant control scheme.

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Advanced control for fault-tolerant dynamic positioning of an offshore supply vessel

Cited by 48 publications

References 39 publications

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Virtual environment for the design of position trajectory tracking controllers of remotely operated vehicles

Fault‐Tolerant Supervisory Control for Dynamic Positioning of Ships

Integrated Fault Estimation and Fault‐Tolerant Control for Dynamic Positioning of Ships

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