Course-Tracking of Multiple Fault Cases of a Model Scaled Surface Vessel with Feedback Linearization

In this paper, the fault tolerant control with priory using feedback linearization and PID controller of a model scaled container vessel is proposed. First, the nonlinear mathematical model for a model scaled vessel equipped with propulsion configuration of single rudder and two thrusters are presented. Then, the control system based on feedback linearization is developed for different cases of the actuator failure, including the failure of a rudder and a thruster separately. Lastly, the timedomain simulation is conducted to evaluate the performance of feedback linearization control in path following problems as the vessel experiencing normal operation as well as propulsion system failure. The results present that the vessel can manoeuvre along the desired circle and zigzag trajectories. This paper contributes to the development of control system for autonomous surface vessel by providing an approach for fault tolerant control to be applied in emergency operations.