Fault-Tolerant Thrust Allocation with Thruster Dynamics for a Twin-Waterjet Propelled Vessel

The availability of the propulsion system is primary importance to ensure safe and stable operations marine crafts, both during transit station keeping. Diminished efficiency could impair ability a vessel maintain speed course possibly lead drifting craft. waterjet’s affected by several factors such as cavitation, erosion, vibration noise emission. This paper addresses design fault-tolerant thrust allocation algorithm able seaworthiness twin-waterjet craft in presence severe power loss one waterjets. proposed solution combines load torque estimator with an optimization routine that accounts for limits when waterjet subject loss. prevents faults from quickly escalating into complete failure due excessive demands. Two simulated case studies including zig-zag path following sideways movements are presented demonstrate effectiveness fault tolerant control strategy.