کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
8062163 | 1520630 | 2018 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Fault tolerant model predictive control for an over-actuated vessel
ترجمه فارسی عنوان
کنترل پیش بینی کننده مدل معکوس برای یک کشتی بیش از حد فعال
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کلمات کلیدی
کنترل پیش بینی مدل، تخصیص رانش تحمل خطا، مدل متغیر پارامتر خطی،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی دریا (اقیانوس)
چکیده انگلیسی
This paper presents a Fault Tolerant-Model Predictive Control (FT-MPC) for a vessel featured by the presence of a greater number of actuators with respect to the number of controlled outputs, classified in the category of over-actuated systems. Over-actuated plants are usually controlled by a main controller in conjunction with a Thrust Allocation (TA) algorithm in order to guarantee the required control performances. In this work an unconstrained Quadratic Programming (QP) TA policy is considered in conjunction with a MPC to drive the vessel. The proposed solution has been tested on an over-actuated vessel called Cybership II. The main contribution of this paper is the introduction in the MPC of a fault tolerant action, in order to improve control performance in actuators' fault scenarios. A Linear Parameter-Varying (LPV) model has been used to described the Cybership II dynamics and to develop the proposed controller. Considering this model, a MPC has been developed to drive the vessel, verifying controller performance in standard control scenarios. The proposed FT-MPC has been compared with respect to a standard MPC in actuators' fault scenarios, considering several wave noise disturbances. Reported simulation results show the effectiveness of the proposed approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 160, 15 July 2018, Pages 1-9
Journal: Ocean Engineering - Volume 160, 15 July 2018, Pages 1-9
نویسندگان
Luca Cavanini, Gianluca Ippoliti,