Fault diagnosis and fault tolerant control for the actuator of marine vehicles

This paper investigates the fault diagnosis and fault tolerant control problems for the actuators of marine vehicles through the processes of detection, isolation, and tolerant control. Two categories of observers contribute to detect the predefined fault influence parameters that represent the fault situations by relying on the singular value decomposition for the control matrix. The parameter changing tendency is surveyed under the derivative proposition to isolate the fault, where the faulty actuator and the corresponding category and magnitude of the fault influence are figured out. Based on the fault diagnosis, the fault tolerant control takes effect by offsetting the fault influence parameters on the feedback inputs. The feasibility and effectiveness of the proposed methods are verified through the marine vehicle docking simulation.