Diagnosis and Fault-Tolerant Control
Diagnosis and Fault-Tolerant Control
A Backstepping Approach to Ship Course Control
International Journal of Applied Mathematics and Computer Science
Active Fault Diagnosis Based on Stochastic Tests
International Journal of Applied Mathematics and Computer Science - Issues in Fault Diagnosis and Fault Tolerant Control
Fault Diagnosis Of A Water For Injection System Using Enhanced Structural Isolation
International Journal of Applied Mathematics and Computer Science - Issues in Fault Diagnosis and Fault Tolerant Control
Nonlinear controller design of a ship autopilot
International Journal of Applied Mathematics and Computer Science
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This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.