基于鲁棒滑模虚拟传感器的船舶动力定位容错控制

摘要

为了解决动力定位船舶工作在复杂海况下发生传感器故障后的安全作业问题，就传感器故障船舶定位容错控制方法进行了研究。在虚拟传感器控制重构的基础上，借助滑模观测器具有解决系统非线性和不确定项的优势，提出一种鲁棒滑模虚拟传感器，实现传感器故障船舶定位容错控制，并基于李雅普诺夫稳定性理论进行了稳定性证明。通过仿真验证了该方法可以使船舶在传感器故障的情况下继续保持定位能力。%In order to solve the safe operation problem for dynamic positioning vessel operating in rough sea after the failure of sensors, a method of fault-tolerant control for dynamic positioning ship was investigated. Based on the reconfiguration of virtual sensor control, a robust sliding mode of virtual sensor was proposed to implement fault-tolerant control. Lyapunov stability theory was applied to prove the stability of the system. The simulation results indicated that the ship continued to maintain the capability of positioning in the case of sensor failure.