文章基本信息

标题：Fault Tolerant Control for an Over-Actuated WAM-V Catamaran
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作者：Alessandro Baldini ; Riccardo Felicetti ; Alessandro Freddi 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：353-359
DOI：10.1016/j.ifacol.2019.12.332
语种：English
出版社：Elsevier
摘要：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.
关键词：KeywordsWAM-VFault ToleranceControl Allocation