Adaptive Fault-Tolerant Boundary Control of a Flexible Marine Riser-vessel System Under Actuator and Structural Failures

This paper develops an adaptive fault-tolerant boundary control scheme for riser-vessel systems to deal with actuator failure and structural failure, simultaneously. The marine riser-vessel system dynamics is modeled by a fourth-order partial-ordinary differential equation. An adaptive fault-tolerant boundary control framework is proposed, which together with the designed adaptive update law guarantees the uniformly ultimately boundedness of the closed-loop system. The simulation results show that the developed fault-tolerant control method can still make the system state converge in a small area of zero in the presence of actuator failure and structural failure.