基于典型执行器约束的动力定位船舶鲁棒容错控制

2021 11th International Conference on Information Science and Technology (ICIST) Pub Date : 2021-05-21 DOI:10.1109/ICIST52614.2021.9440578

Fu Mingyu, Jiyan, XuYujie

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引用次数: 0

摘要

提出了一种动态定位船舶在时变外部干扰和执行器故障情况下的容错控制方法。建立了通用故障模型来描述执行器的典型故障模式(失效、干扰和中断)。在不使用速度加速度的情况下，设计了有限时间非线性扰动观测器来估计时变有界扰动并补偿故障误差。然后提出了一种非线性PD容错控制律，该律能保证闭环系统所有状态的有限时间一致有界。通过对“海洋石油201”动态定位船的仿真，验证了该容错控制方法的有效性。

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Robust Fault Tolerant Control of Dynamic Positioning Ships based on Typical Actuator Constraints

In this paper, a fault-tolerant control method of dynamic positioning(DP) ship under time-varying external disturbance and actuator faults is proposed. A general fault model is established to describe the typical actuator faults modes (loss-of-effectiveness, jamming and interruption). Without using the speed acceleration, a finite time nonlinear disturbance observer is designed to estimate time-varying bounded disturbance and compensate fault error. Then a nonlinear PD fault-tolerant control law is developed, which can guarantee finite time uniform boundedness of all states of the closed-loop system. The effectiveness of the fault-tolerant control method is verified by simulation of "Offshore Oil 201" dynamic positioning ship.

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2021 11th International Conference on Information Science and Technology (ICIST)

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