In this study, an anti-windup reconfigurable control method is developed for dynamic positioning vessel in the presence of thruster faults and input saturation. The designed reconfiguration block acting as a virtual thruster aims at hiding the faults from the nominal controller. Also, it is added into the closed-loop system between the nominal controller and the dynamic positioning system. A thruster saturation-failure fault matrix technique is proposed to regard the thruster saturation as thruster fault, meanwhile an auxiliary system is constructed to achieve extra compensation for the adverse effects induced by input saturation. Furthermore, an integral sliding mode control method is presented to accommodate the nonlinear items in the reconfiguration block. An adaptive technique is also employed to preserve robustness against the unknown uncertainties. Finally, a vessel dynamic positioning control process is adopted to evaluate the effectiveness of the proposed method.

中文翻译：

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带推进器故障的动力定位船抗饱和可重构控制

在这项研究中，针对存在推进器故障和输入饱和的动态定位船舶开发了一种抗饱和可重构控制方法。用作虚拟推进器的设计重构块旨在隐藏标称控制器的故障。此外，它被添加到标称控制器和动态定位系统之间的闭环系统中。提出了推进器饱和-失效故障矩阵技术，将推进器饱和视为推进器故障，同时构建辅助系统对输入饱和引起的不利影响进行额外补偿。此外，提出了一种积分滑模控制方法来适应重构块中的非线性项。还采用了一种自适应技术来保持对未知不确定性的鲁棒性。最后，采用船舶动态定位控制过程来评估所提出方法的有效性。