H-infinity Fault-Tolerant Control for Dynamic Positioning Ships based on Sampled-data

Abstract

This study addresses the robust H_?fault-tolerant control problem for dynamic positioning (DP) ships based on sampled-data with actuator fault. First, the actuator-failure mode is established. Then, input delay approach combined with Lyapunov-Krasovskii functional is used to determine the system’s asymptotical stability and achieve H_? tracking performance. Then H_?fault-tolerant sampled-data controller is obtained by means of linear matrix inequality (LMI). Finally, simulation results show that the designed controller for DP ships is effective so that the output of sampled-data DP ships system can track the reference signal without steady-state error in the existence of varying environment disturbance and actuator faults.