Modeling and identification of podded propulsion unmanned surface vehicle and its course control research

DOI10.1155/2017/3209451MaRDI QIDQ1992597zbMATH OpenOpenAlexWikidataFDO

Authors Dongdong Mu, G. F. Wang, Yunsheng Fan, Yongsheng Zhao

Publication date 5 November 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/3209451

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.

Recommendations

• Fixed-time trajectory tracking control for unmanned surface vessels in the presence of model uncertainties and external disturbances
• Unmanned surface vessels concise robust course control based on planning and control scheme
• A strategy of robust control for the dynamics of an unmanned surface vehicle under marine waves and currents
• Fixed-time trajectory tracking control of autonomous surface vehicle with model uncertainties and disturbances
• Self‐learning‐based optimal tracking control of an unmanned surface vehicle with pose and velocity constraints
• Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations
• Path-following algorithms and experiments for an unmanned surface vehicle
• scientific article; zbMATH DE number 6831054

Cites work

• A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
• Continuous finite-time control for robotic manipulators with terminal sliding mode
• scientific article; zbMATH DE number 3619700 (Why is no real title available?)
• Non-singular terminal sliding mode control of rigid manipulators

Cited in

(4)

• Speed and heading control of an unmanned surface vehicle based on state error PCH principle
• Fuzzy-based optimal adaptive line-of-sight path following for underactuated unmanned surface vehicle with uncertainties and time-varying disturbances
• Fast in-field identification of unmanned marine vehicles
• Online interactive identification method based on ESO disturbance estimation for motion model of double propeller propulsion unmanned surface vehicle

This page was built for publication: Modeling and identification of podded propulsion unmanned surface vehicle and its course control research

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1992597)