Dynamic Sliding Mode-based Fault-Tolerant Control for Ship Dynamic Positioning Based on T-S Fuzzy Piecewise Affine Models

In this paper, a Takagi-Sugeno (T-S) fuzzy-affine-model-based fault-tolerant control problem for ship dynamic positioning (DP) systems is investigated. Firstly, the ship is modeled as a T-S fuzzy-affine model. Secondly, a dynamic sliding mode controller is designed for the ship dynamic positioning system. Thirdly, the dynamic sliding mode controller is combined with a fault-tolerant control strategy and an optimal thrust allocation algorithm in case of ship thruster failure. With the proposed control scheme, the DP problem for ships is achieved with thruster failure. Eventually, the simulation consequences demonstrate the effectiveness of the dynamic sliding mode DP controller as well as the fault-tolerant control strategy.