Experimental validation of propulsion fault detection system using moving horizon estimation in quad-maran unmanned vessel

被引：3
|
作者：
Mukai K. [1 ]
Hara N. [1 ]
Konishi K. [1 ]
机构：
[1] Department of Electrical and Information Systems, Osaka Prefecture University, Osaka, Sakai
来源：
SICE Journal of Control, Measurement, and System Integration | 2021年 / 14卷 / 02期
关键词：
Fault detection; mixed-integer quadratic program; model predictive control; moving horizon estimation; unmanned surface vessel;
D O I：
10.1080/18824889.2021.1894022
中图分类号：
学科分类号：
摘要：
A quad-maran unmanned vessel is a new type of unmanned surface vessel for the automatic collection of various environmental data in aquaculture fields. We propose a fault detection and control scheme for a possible thrust decrease failure of quad-maran vessels. The fault detection and control are based on moving horizon estimation and model predictive control. The proposed estimation and control scheme is experimentally validated. © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.
引用
收藏
页码：39 / 49
页数：10
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