Runlong Miao, Zaopeng Dong, Lei Wan and Jiangfeng Zeng
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.
Bokor, J., Gáspár, P., & Szabó, Z. (2014). Modern Control Engineering, Budapest: Budapest University of Technology and Economics.
Franklin, G. F., Powell, J. D., & Emami-Naeini, A. (1994). Feedback Control of Dynamic Systems, Reading: Addison-Wesley Publishing Company.
Friedland, B. (1986). ControlSystemDesign, New York, London: McGraw-Hill.
Golten, J., & Verwer, A. (1991). ControlSystemDesign and Simulation, New York: McGraw-Hill Book Company.
York – Don Mills – Wokingham – Amsterdam – Bonn – Sydney – Singapore – Tokyo – Madrid – San Juan – Milan – Paris: Addison-Wesley Publishing Company.
Friedland, B. (1986). ControlSystemDesign . New York – London: McGraw-Hill.
Golten, J., & Verwer, A. (1991). ControlSystemDesign and Simulation. New York: McGraw-Hill Book Company.
Grimble, M. J. (1994). Robust Industrial Control — Optimal Design Approach for Polynomial Systems. New York: Wiley.
Hartley, G. A. (1990). F-18 Robust Control design Using H2 and H-infinity methods. Monterey
: Tradeoffs between Transmission Intervals, Delays and Performance”, IEEE Transactions on Automatic Control vol. 55, no. 8, 2010, pp. 1781–1796.
 I. Polushin, P. Liu and C. Lung, “On the Model-Based Approach to Nonlinear Networked Control Systems”, Automatica vol. 44, no. 9, 2008, pp. 2409–2414.
 Q. Nguyen, V. Veselý, A. Kozáková and P. Pakshin, “Networked Robust Predictive ControlSystemsDesign with Packet Loss”, Journal of Electrical Engineering vol. 65, no. 1, 2014.
 G. Ewald and M. Brdys, “Model Predictive Controller for Networked
The HeKatE methodology. Hybrid engineering of intelligent systems
This paper describes a new approach, the HeKatE methodology, to the design and development of complex rule-based systems for control and decision support. The main paradigm for rule representation, namely, eXtended Tabular Trees (XTT), ensures high density and transparency of visual knowledge representation. Contrary to traditional, flat rule-based systems, the XTT approach is focused on groups of similar rules rather than on single rules. Such groups form decision tables which are connected into a network for inference. Efficient inference is assured as only the rules necessary for achieving the goal, identified by the context of inference and partial order among tables, are fired. In the paper a new version of the language—XTT22—is presented. It is based on ALSV(FD) logic, also described in the paper. Another distinctive feature of the presented approach is a top-down design methodology based on successive refinement of the project. It starts with Attribute Relationship Diagram (ARD) development. Such a diagram represents relationships between system variables. Based on the ARD scheme, XTT tables and links between them are generated. The tables are filled with expert-provided constraints on values of the attributes. The code for rule representation is generated in a humanreadable representation called HMR and interpreted with a provided inference engine called HeaRT. A set of software tools supporting the visual design and development stages is described in brief.
Carlos Rodríguez, Ernesto Aranda-Escolástico, María Guinaldo, José Luis Guzmán and Sebastián Dormido
This paper proposes a new method for the analysis of continuous and periodic event-based state-feedback plus static feed-forward controllers that regulate linear time invariant systems with time delays. Measurable disturbances are used in both the control law and triggering condition to provide better disturbance attenuation. Asymptotic stability and L2-gain disturbance rejection problems are addressed by means of Lyapunov–Krasovskii functionals, leading to performance conditions that are expressed in terms of linear matrix inequalities. The proposed controller offers better disturbance rejection and a reduction in the number of transmissions with respect to other robust event-triggered controllers in the literature.
Quang T. Nguyen, Vojtech Veselý, Alena Kozáková and Pavel Pakshin
The paper addresses problem of designing a robust output feedback model predictive control for uncertain linear systems over networks with packet-loss. The packet-loss process is arbitrary and bounded by the control horizon of model predictive control. Networked predictive control systems with packet loss are modeled as switched linear systems. This enables us to apply the theory of switched systems to establish the stability condition. The stabilizing controller design is based on sufficient robust stability conditions formulated as a solution of bilinear matrix inequality. Finally, a benchmark numerical example-double integrator is given to illustrate the effectiveness of the proposed method.
Aleksandrs Urbahs, Jurate Suziedelyte Visockiene, Yen-Chen Liu, Kristīne Carjova and Sergey Kravchenko
Paper is related to development of flying robot system. The main objective is to mingle the professional backgrounds in three research directions: development of the aerial vehicle and localization, development of the tele-interaction framework and control system, development of the image fusion system and photogrammetry. Block diagrams give brief description of the systems and sub-systems under the proposed environmental system. Structure of the monitoring UAV adapted for the hand launch given.
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.
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.