Qi LANG, Haixiang XU, Wenzhao YU, Zhe DU, Hongmei WANG, Jinlong CHEN. Fault-tolerant control for ships with thruster faults based on improved adaptive control allocation[J]. Chinese Journal of Ship Research, 2025, 20(1): 289

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- Chinese Journal of Ship Research
- Vol. 20, Issue 1, 289 (2025)
![[in Chinese]](/richHtml/CJSR/2025/20/1/289/img_1.jpg)
Fig. 1. [in Chinese]
![[in Chinese]](/richHtml/CJSR/2025/20/1/289/img_2.jpg)
Fig. 2. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif)
Fig. 3. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif)
Fig. 4. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif)
Fig. 5. [in Chinese]

Fig. 6. The curves of the adaptive parameters under two CA algorithms in experiment 1实验1两种算法下自适应参数的变化曲线
![[in Chinese]](/Images/icon/loading.gif)
Fig. 7. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif)
Fig. 8. [in Chinese]
![[in Chinese]](/Images/icon/loading.gif)
Fig. 9. [in Chinese]
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Table 1. Main scale of the experimental prototype
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Table 2. Parameters of the thruster
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Table 3. Experiment setup for each group
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Table 4. Simulation environment parameters
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Table 5. Relevant parameters of different CA methods
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Table 6. Maximum positioning errors under three CA algorithms in experiment 1
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Table 7. Maximum positioning errors under two CA algorithms in experiment 2 and 3

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