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Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Abstract

The process of heading control system design for a kind of micro-unmanned surface vessel (micro-USV) is addressed in this paper and a novel adaptive expert S-PID algorithm is proposed. First, a motion control system for the micro-USV is designed based on STM32-ARM and the PC monitoring system is developed based on Labwindows/CVI. Second, by combining the expert control technology, S plane and PID control algorithms, an adaptive expert S-PID control algorithm is proposed for heading control of the micro-USV. Third, based on SL micro-USV developed in this paper, a large number of pool experiments and lake experiments are carried out, to verify the effectiveness and reliability of the motion control system designed and the heading control algorithm proposed. A great amount of comparative experiment results shows the superiority of the proposed adaptive expert S-PID algorithm in terms of heading control of the SL micro-USV.

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Ship Trajectory Tracking Control System Design Based on Sliding Mode Control Algorithm

Abstract

The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.

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On the ship course-keeping control system design by using robust feedback linearization

Abstract

In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.

Open access
Optimization Methods in Maritime Transport and Logistics

ship course-keeping control system design by using robust and adaptive control. Proc. 19th Int. Conf. on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 2014, pp. 189-194.

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Dynamic positioning system design for “blue lady”. simulation tests

. 69-76, 1998 12. Nakamura M., Kajiwara H.: Control system design and model experiments on thruster assisted mooring system . Proceedings of the 7th international offshore and polar engineering conference (ISOPE) , pp. 641-648, 1997 13. Tannuri E.A., Donha D.C.: H∞ controller design for dynamic positioning of turred moored FPSO. Proceedings of the 5th IFAC conference on manoeuvering and control of marine crafts , (MCMC-2000), Aalborg, Denmark. pp. 269-275, 2000 14. Dohna D.C., Tannuri E.A.: Non-linear semi

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Technology of Spatial Data Geometrical Simplification in Maritime Mobile Information System for Coastal Waters

with adaptive object model. Polish Maritime Research, 21, 14-19. 20. Zwierzewicz Z. (2013), On the ship course-keeping control system design by using robust feedback linearization, Polish Maritime Research. Volume 20, Issue 1, Pages 70-76 21. Wlodarczyk-Sielicka M., Stateczny A.: Comparison of selected reduction methods of bathymetric data obtained by multibeam echosounder. Proceedings of Baltic Geodesy Congress, Gdansk, Poland (2016), pp.73-77, IEEE, DOI: 10.1109/BGC.Geomatics.2016.22 22. Stateczny, A. and Bodus

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Marine Search and Rescue of UAV in Long-Distance Security Modeling Simulation

(12):218-219. 20. WANG Tingting,QIANChengshan,ZHANGYonghong ,etal.Attitude Control System Design for Tilting Fixedwing Unmanned Aerial Vehicle. Computer Measurement & Control , 2017, 25(2):64-66. 21. Almazyad A S, Seddiq Y M, Alotaibi A M, et al. A Proposed Scalable Design and Simulation of Wireless Sensor Network-Based Long-Distance Water Pipeline Leakage Monitoring System. Sensors, 2014, 14(2):3557-3577. 22. Guan Y L, Hou Y X, Jia H G, et al. Dynamic Modeling and Simulation of UAV Ground Maneuvers. BinggongXuebao/ acta Armamentarii, 2014, 35

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Dynamic Positioning System for a Ship on Harbour Manoeuvring with Different Observers. Experimental Results

References 1. Strand J. P.: Nonlinear position control systems design for marine vessels , Ph.D. Tesis, Norwegian University Science and Technology, Deptment of Engineering Cybernetics, Trondheim, Norway, 1999. 2. Lindegaard K.-P.: Acceleration Feedback in Dynamic Positioning , Ph.D. Tesis, Norwegian University Science and Technology, Deptment of Engineering Cybernetics, Trondheim, Norway, 2003. 3. Fossen T.I., 1994. Guidance and control of ocean vehicles , John Wiley and Sons, Chichester, UK, 1994. 4. Amerongen J.V.: Adaptive Steering of Ships

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