Fault Tolerant Control for an Over-Actuated WAM-V Catamaran. Issue 21 (2019)

• Record Type: Journal Article
• Authors: Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Hasegawa, Kazuhiko; Monteriù, Andrea; Pandey, Jyotsna
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 21(2019)
• Page Start: 353
• Page End: 359
• Publication Date: 2019
• Subjects: WAM-V -- Fault Tolerance -- Control Allocation; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.332
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper we propose a fault/failure tolerant control scheme for a catamaran with two azimuth thrusters. The scheme is based on a three level architecture: a heuristic-based control policy for proper reference generation, a control law for the vehicle dynamics to achieve speed tracking of the generated reference, and a control allocation level for optimally redistributing the control efforts among the thrusters even in presence of actuator faults and failures; finally, the low level control is invariant with respect to the fault/failure scenario, as well as the control law. The proposed architecture has been simulated considering the nonlinear model of a Wave Adaptive Modular Vessel catamaran, with the aim of tracking a reference expressed in waypoints, even when faults/failures affect one or more thrusters.