Search for: [Abstract = "This paper addresses fault\-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub\-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high\-risk abortion of an oil\-loading operation. With significant drift forces from waves, non\-Gaussian elements dominate forces and the residuals designed for fault diagnosis."]

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