Experimental validation of propulsion fault detection system using moving horizon estimation in quad-maran unmanned vessel

A quad-maran unmanned vessel is a new type of unmanned surface vessel for the automatic collection of various environmental data in aquaculture fields. We propose a fault detection and control scheme for a possible thrust decrease failure of quad-maran vessels. The fault detection and control are based on moving horizon estimation and model predictive control. The proposed estimation and control scheme is experimentally validated.