engleski

Improving fault handling in marine vehicle course-keeping systems

A fault-detection and isolation algorithm is tested by simulating the rudder servosystem in a ship's closed-loop course-keeping system. A novel FDI algorithm is tested by simulation of the rudder servosystem. A properly adjusted recursive extended least-squares (RELS) identification algorithm is utilized for fault-detection purposes, since hardly detectable faults (multiplicative faults) are handled.

fault detection and isolation; model-based fault detection; ship's course-keeping; steering machine; least squares parameter estimation; identification

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