Actuator and Sensor Fault Reconstruction for Dynamic Positioning Vessels Based on Adaptive Unknown Input Observer

This paper proposes a actuator and sensor fault reconstruction (FR) strategy based on an adaptive unknown input observer (AUIO) for DP vessels affected by unknown external environmental disturbances. First, a mathematical model of the DP vessel with actuator and sensor faults is established. Then, an AUIO is designed to estimate the system state and reconstruct the fault information. Finally, simulation results show that the proposed AUIO can accurately estimate the system state and reconstruct actuator and sensor faults, even in the presence of unknown environmental disturbances.