Active Adaptive Fault-tolerant Control and Its Application in Ship Speed/Course Coordination

An active adaptive fault-tolerant controller is proposed for the ship speed/course coordination control system. In this method, a nonlinear dynamic mechanism model with multiple fault descriptions and generalized disturbances is developed firstly. Adaptive update laws are designed to estimate the fault parameters and generalized disturbances. Accordingly, an active adaptive fault-tolerant controller utilizing the real-time parameter estimations is proposed, where the presented adaptive laws are employed to compensate the partial failures, interruptions, offsets, stuck faults and generalized disturbances without prior information simultaneously. A surface ship speed/course coordination control system is built in Matlab/Simulink simulation platform. The effectiveness of proposed control scheme is verified through digital simulation results.