Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

Jiang, Quanquan; Liao, Yulei; Miao, Yugang; Jiang, Wen; Cheng, Chiu H.

doi:10.1177/1729881419831584

Cited by 5 publications

(5 citation statements)

References 19 publications

(25 reference statements)

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“…Liao et al (2019) introduced an adaptive variable forgetting factor redefinition output model-free adaptive heading control method, which combines forgetting factor adjustment mechanism and expert dynamic control behavior. Jiang et al (2019) proposed a redefined output model-free adaptive heading control method based on the output constraints of the controlled system, which fully considers the mechanical saturation characteristics of the actuator. Liao (2020) proposed a model-free adaptive method with variable integral separated and proportion control, which combined with the structure of discrete incremental PI method.…”

Section: Motion Control Methods Of the Usvmentioning

confidence: 99%

Research on disturbance rejection motion control method of USV for UUV recovery

Liao

Chen

et al. 2022

Journal of Field Robotics

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The recovery of unmanned underwater vehicle (UUV) by unmanned surface vehicle (USV) has the characteristics of autonomy, safety, and efficiency. Taking the recovery of UUV by USV as the engineering background, this paper studies the guidance and anti-interference motion control of USV in the recovery process.Aiming at the problem of dynamic guidance when recovering UUV, the USV guidance strategy for UUV recovery is studied. Fuzzy guidance is introduced as the dynamic terminal guidance method, and a layered guidance strategy combining classical guidance and fuzzy guidance is proposed. On the basis of the theory of compact form dynamic linearization-based model-free adaptive control (CFDL-MFAC), the motion control of USV in the process of recovering UUV under the influence of model perturbation, external interference, and other uncertainties is studied. Theoretical analysis and experimental results show that there is a contradiction in the matching of dynamic change speed between the USV heading control subsystem and CFDL-MFAC. By introducing the difference item into the standard control criterion to weaken the integral effect in the heading control subsystem of USV, a difference-type compact format model-free adaptive control method (DCFDL-MFAC) is proposed, and the stability of DCFDL-MFAC method is proved theoretically. The effectiveness and practicability of the proposed method are verified by simulation tests and field tests of "Dolphin IB" small USV.

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Section: Motion Control Methods Of the Usvmentioning

confidence: 99%

Research on disturbance rejection motion control method of USV for UUV recovery

Liao

Chen

et al. 2022

Journal of Field Robotics

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“…

is the transverse distance from the USV centreline to each thruster,

is the water density, D is the diameter of the propeller,

represents the thrust reduction coefficient and

is a thrust coefficient, depending on the advanced ratio

. Additionally, proportional integral derivative (PID) control is used here for USV reference path tracking [ 31 , 32 , 33 ].…”

Section: Numerical Simulations and Hardware-in-the-loop Testsmentioning

confidence: 99%

Unmanned Surface Vehicle Collision Avoidance Path Planning in Restricted Waters Using Multi-Objective Optimisation Complying with COLREGs

Rong

Tong

et al. 2022

Sensors

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Navigation safety is one of the primary operational requirements for unmanned surface vehicles (USVs) in a complex marine environment, mainly guaranteed by a reliable path planning system for collision avoidance. This work proposes a novel weighted sum multi-objective optimisation strategy for USV collision avoidance path planning in restricted waters. In particular, the coefficients of different objectives could be tuned to emphasise the most critical design consideration under varying navigation scenarios. Moreover, in addition to the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs), the terrain and weather constraints were also considered in the path planning system. The proposed USV collision avoidance path planning framework’s effectiveness was demonstrated through numerical simulations and hardware-in-the-loop (HIL) tests. The numerical simulation results indicate that the proposed method could avoid collision with dynamic and static obstacles, and it is also adaptive to different navigation restrictions and preferences. Moreover, a USV navigation platform was established by incorporating true Automatic Identification System (AIS) signals, and HIL tests were performed with real-time AIS data in a water channel in the Zhoushan archipelago. The results demonstrate that the proposed USV path planning strategy is applicable in restricted waters with complex terrains and weather constraints.

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“…Ref. [13] applied MFAC theory to the heading control system of unmanned surface vessels, achieving precise heading control of the system under model disturbances and system delays. Ref.…”

Section: Introductionmentioning

confidence: 99%

An Improved Data-Driven Integral Sliding-Mode Control and Its Automation Application

Xu,

Sui,

Wang

et al. 2023

Applied Sciences

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Circulating fluidized bed (CFB) boilers are widely used in industrial production due to their high combustion efficiency, low pollutant emissions and wide load-adjustment range. However, the water-level-control system of a CFB boiler exhibits time-varying behavior and nonlinearity, which affect the control performance of the industrial system. This paper proposes a novel data-driven adaptive integral sliding-mode control (ISMC) method for the CFB control system with external disturbances. Firstly, the scheme designs a discrete ISMC law based on the full-format dynamic linearization (FFDL) data model, which is equivalent to a nonlinear system. Furthermore, a new reaching law is proposed to quickly drive the system state onto the sliding-mode surface. The improved ISMC control scheme only utilizes the input–output data during the design process and does not require model information. After theoretically verifying the stability of the method proposed in this paper, it is further applied in MIMO systems. Finally, the control and practical effects of this method are evaluated by using the DHX25-1.25 CFB boiler installed in the special-equipment testing center. The experimental results show that, compared with the traditional sliding-mode control (SMC) and model-free adaptive-control (MFAC) methods, the improved control method can quickly track the given signal and exhibit resistance to noise interference. Furthermore, it can rapidly respond to changes in the working conditions of the CFB system.

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Unmanned surface vessel heading control of model-free adaptive method with variable integral separated and proportion control

Cited by 5 publications

References 19 publications

Research on disturbance rejection motion control method of USV for UUV recovery

Research on disturbance rejection motion control method of USV for UUV recovery

Unmanned Surface Vehicle Collision Avoidance Path Planning in Restricted Waters Using Multi-Objective Optimisation Complying with COLREGs

An Improved Data-Driven Integral Sliding-Mode Control and Its Automation Application

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