Robust Component Fault Diagnostic Observer Design for Underactuated Surface Vessels Using Moving Horizon Optimization

For the consideration of improving the safety and reliability for underactuated surface vessel, the design scheme of a robust component fault detection (FD) is investigated in this paper. The main idea is to formulate the observer design as the $H_{-}/H_{\infty }$ problem of satisfying the disturbance attenuation and optimizing the fault detectability. The sufficient conditions for performance indexes are derived in the formulation of linear matrix inequality. Considering the remarkable fact that the actual system states are not involved in the iteration process for the parameters optimization, based on the moving horizon optimization strategy, the robust component FD design approach is proposed to achieve the improvements of FD performance and feasibility. The simulation results are given to demonstrate the effectiveness of the proposed approach.