MPC-based fault tolerant robust control of surface vessel eqquiped with T-foil

Incident waves are the primary cause of strong heave and pitch motion during navigation. The longitudinal stability of surface vessels can be improved by the installation of active T-foil. The MPC-based fault tolerant robust control algorithm is proposed in the context of disturbances of incident waves, according to the surface vessel fault model with input constraints and parameter perturbations. Mathematical models of surface vessel longitudinal motion and incident waves are presented. Considering the robustness of model, all probabilities of sensor failures and the input constraints of T-foil attack angle, the control of attack angle is realized by designing the MPC-based controller for the failure model. Simulation results verify the feasibility and effectiveness of the proposed method.