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Related Experiment Video

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Observer-based H

Xuelin Zhang1, Xiaobin Xu1, Jianning Li2

  • 1China-Austria Belt and Road Joint Laboratory on Artificial Intelligence and Advanced Manufacturing, Hangzhou Dianzi University, Hangzhou 310018, China; School of Automation, Hangzhou Dianzi University, Hangzhou 310018, Zhejiang, China.

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|June 9, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces an advanced fuzzy fault-tolerant control for ship autopilot systems, improving course tracking robustness against faults and unmeasured states. The method effectively estimates and compensates for steering machine failures, ensuring safer navigation.

Keywords:
Fault detection and alarmFault-tolerant controlSmoothed Z-score algorithmSteering machine faultTakagi–Sugeno fuzzy nonlinear ship autopilotVirtual fuzzy observer

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Area of Science:

  • Marine Engineering
  • Control Systems
  • Fuzzy Logic

Background:

  • Ship autopilot (SA) systems require enhanced robustness against nonlinear dynamics, unmeasured states, and steering machine faults.
  • Existing control methods may not adequately address the complexities of real-world ship navigation and potential system failures.

Purpose of the Study:

  • To propose an observer-based H∞ fuzzy fault-tolerant switching control strategy for ship course tracking.
  • To improve the robustness and reliability of ship autopilot systems.

Main Methods:

  • Development of a global Takagi-Sugeno (T-S) fuzzy nonlinear ship autopilot (NSA) model validated with real navigation data.
  • Design of virtual fuzzy observers (VFOs) for simultaneous estimation of unmeasured states and unknown faults.
  • Implementation of a smoothed Z-score-based fault detection and alarm (FDA) for controller switching.

Main Results:

  • The proposed VFOs effectively estimate unmeasured states and unknown faults, enabling compensation for faulty systems.
  • The VFO-based H∞ robust controller (VFO-HRC) and fault-tolerant controller (VFO-HFTC) were designed and integrated.
  • Simulation results on the "Yulong" ship demonstrated the effectiveness of the fault-tolerant switching control method.

Conclusions:

  • The developed observer-based H∞ fuzzy fault-tolerant switching control enhances ship autopilot robustness.
  • The method successfully addresses nonlinear dynamics, unmeasured states, and unknown steering machine faults.
  • The approach offers a reliable solution for ship course tracking under fault conditions.