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Improving fault handling in marine vehicle course-keeping systems

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3 Author(s)
Vukic, Z. ; Fac. of Electr. Eng. & Comput., Zagreb Univ., Croatia ; Ozbolt, H. ; Pavlekovic, D.

Proposes a FDI algorithm that is tested by simulation of the rudder servosystem in the closed-loop course-keeping system for a Mariner Class vessel. A properly adjusted recursive extended least-squares (RELS) identification algorithm is utilized for fault-detection purposes, since hardly detectable faults (also called multiplicative faults) are handled. The rudder subsystem model, as a part of the overall closed-loop course-keeping system, is presented, and the three main parts of the proposed FDI module, which are configured on the basis of a RELS algorithm, are described. We show simulation results and provide comments for both linear and nonlinear (complete 3 degree-of-freedom model) Mariner Class vessel dynamics. We also discuss the connection to some other approaches and provide possible improvements for the suggested algorithm

Published in:

Robotics & Automation Magazine, IEEE  (Volume:6 ,  Issue: 2 )