Maneuvering mathematical model and course control of POD-driven ship

Piao, Zaiji; Guo, Chen

doi:10.1109/icist.2016.7483428

Cited by 2 publications

(3 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As previously mentioned, such as [5][6][7][8][9], there is little research on the identification of response model of podded propulsion ship. Meanwhile, unlike ordinary ships, USV has a faster speed and smaller volume, so the controller needs faster convergence speed and better anti-interference ability.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…Paper [8] uses regression formula to estimate the thrust force generated by POD, and four-DOF model of semisubmersible ship is established. Paper [9] establishes a three-DOF model of podded propulsion ship by regression formula method, and based on this model, ADRC control theory is used to design the course controller. Generally, the research on modeling of podded propulsion ship is mostly limited to MMG model, but in fact in the design process of the actual ship controller, the most widely application is response model [10].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Wang

Fan

et al. 2017

Mathematical Problems in Engineering

View full text Add to dashboard Cite

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.

show abstract

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Wang

Fan

et al. 2017

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…When the USV encounters an obstacle and ship, it is necessarily to avoid obstacles autonomously. Artificial potential field algorithm is a relatively common method of local route planning and is often applied to collision avoidance [33,34].…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance Algorithm for Unmanned Surface Vehicle Based on Improved Artificial Potential Field and Ant Colony Optimization

Ou¹,

Guo²

2019

Proceedings of the 2019 International Conference on Computer, Network, Communication and Information Systems (CNCI 2019)

View full text Add to dashboard Cite

There is a growing concern to design collision avoidance algorithm for unmanned surface vehicle (USV) as a solution to many naval and civilian requirements. Due to the anti-jamming performance of the traditional collision avoidance algorithm decrease with the influence of environmental disturbances, resulting in the problems of frequent steering and overshoot when USV is sailing under harsh sea condition. An improved collision avoidance algorithm based on improved artificial potential field and ant colony optimization is proposed in this paper. And, a power function based on the change of the distance to the obstacle is proposed. This improved combination is to solve the problem of frequent steering and overshoot of USV's control system with good robustness during collision avoidance. The results of simulation and experiment demonstrate the proposed method is more efficient and more capable to avoid the obstacles through route planning particularly in the presence of large disturbances.

show abstract

Maneuvering mathematical model and course control of POD-driven ship

Cited by 2 publications

References 1 publication

Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Collision Avoidance Algorithm for Unmanned Surface Vehicle Based on Improved Artificial Potential Field and Ant Colony Optimization

Contact Info

Product

Resources

About