This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.
@article{bwmeta1.element.bwnjournal-article-amcv21i3p467bwm,
author = {Shaoji Fang and Mogens Blanke},
title = {Fault monitoring and fault recovery control for position-moored vessels},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {21},
year = {2011},
pages = {467-478},
zbl = {1234.93082},
language = {en},
url = {http://dml.mathdoc.fr/item/bwmeta1.element.bwnjournal-article-amcv21i3p467bwm}
}
Shaoji Fang; Mogens Blanke. Fault monitoring and fault recovery control for position-moored vessels. International Journal of Applied Mathematics and Computer Science, Tome 21 (2011) pp. 467-478. http://gdmltest.u-ga.fr/item/bwmeta1.element.bwnjournal-article-amcv21i3p467bwm/
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