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Comparison between passive and active backstepping fault tolerant controls applied to a water jets propelled ship

In high automated marine vehicles, it is crucial to take an appropriate action against faults that may jeopardize the safety of the system. This paper describes the development and validation of a fault tolerant control for a ship propelled by two water jets via a passive and an active backstepping approach. The vessel is controlled for path following maneuvers, sea keeping heading, speed regulation, and heading changing commands. The inputs are the command to apply to the water jets including the two engines, the steering and reversing unit for each jet. A model of the system considered, issued by a previous work, is used. Details of the design process of passive and active methods are given. The stability of the closed-loop system and uniform boundedness of the tracking error are proved based on Lyapunov theorem. Simulation with many faults scenario is carried out. Results show the effect of the proposed passive and active backstepping FTC. The active approach can more successfully accommodate faults associated with sensors and actuators.