Optimal Robust Control of Path Following and Rudder Roll Reduction for a Container Ship in Heavy Waves

Wang, Sisi; Wang, Lijun; Qiao, Zixuan; Li, Fengshan

doi:10.3390/app8091631

Cited by 10 publications

(10 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In accordance with closed-loop gain shaping algorithm (CGSA) [12][13][14][15][16][17], a concise robust PID controller is presented as follows.…”

Section: Control Parameters Determinationmentioning

confidence: 99%

Concise Robust Control of Marine Engine Speed Based on Backstepping and Its Fuzzy Comprehension

Wang

2019

Complexity

Self Cite

View full text Add to dashboard Cite

In this paper, a concise robust control law based on Backstepping for marine engine speed regulation is presented with the uniform asymptotic stability of the closed-loop system proved by Lyapunov synthesis, and the control parameters have obvious physical meaning. Furthermore, parameter determination method is given by virtue of closed-loop gain shaping algorithm. To overcome the perturbation due to load or interference change, variable universe fuzzy inference is introduced to optimize the control system on-line. Compared with the existing research literature, the design method and performance of the controller are more in line with the ocean engineering practice. The results of the simulations of the proposed controller are presented and compared.

show abstract

“…In accordance with closed-loop gain shaping algorithm (CGSA) [12][13][14][15][16][17], a concise robust PID controller is presented as follows.…”

Section: Control Parameters Determinationmentioning

confidence: 99%

Concise Robust Control of Marine Engine Speed Based on Backstepping and Its Fuzzy Comprehension

Wang

2019

Complexity

Self Cite

View full text Add to dashboard Cite

show abstract

“…Thus, the backstepping algorithm is designed to enforce x 1 to track, as accurately as possible, I mpp . The backstepping approach [52][53][54][56][57][58] is designed as follows:…”

Section: Type Of Controllermentioning

confidence: 99%

“…It has become an important robust algorithm due to its ability to control chaos and its flexibility in the construction of control law. It is commonly used for numerous applications, especially nonlinear uncertain systems (e.g., PEMFC power systems) [48][49][50][51][52][53][54][55][56][57][58][59]. In [48], it is used for a smart grid-connected distributed photovoltaic system.…”

Section: Introductionmentioning

confidence: 99%

A Robust Maximum Power Point Tracking Control Method for a PEM Fuel Cell Power System

2018

View full text Add to dashboard Cite

Taking into account the limited capability of proton exchange membrane fuel cells (PEMFCs) to produce energy, it is mandatory to provide solutions, in which an efficient power produced by PEMFCs can be attained. The maximum power point tracker (MPPT) plays a considerable role in the performance improvement of the PEMFCs. Conventional MPPT algorithms showed good performances due to their simplicity and easy implementation. However, oscillations around the maximum power point and inefficiency in the case of rapid change in operating conditions are their main drawbacks. To this end, a new MPPT scheme based on a current reference estimator is presented. The main goal of this work is to keep the PEMFCs functioning at an efficient power point. This goal is achieved using the backstepping technique, which drives the DC–DC boost converter inserted between the PEMFC and the load. The stability of the proposed algorithm is demonstrated by means of Lyapunov analysis. To verify the ability of the proposed method, an extensive simulation test is executed in a Matlab–Simulink T M environment. Compared with the well-known proportional–integral (PI) controller, results indicate that the proposed backstepping technique offers rapid and adequate converging to the operating power point.

show abstract

“…Similar to the guidance problem, a lot of work has been done on the design of a dynamic controller in path following. The prevailing control methods for marine surface vessels and AUVs in path following include feedback linearizing control techniques [9][10][11], proportional-integral-derivative (PID) control [12,13], the backstepping method [14,15], Lyapunov direct method [16], robust control [17][18][19][20], adaptive control [21][22][23], gain scheduling control theory [24], sliding mode control (SMC) [25][26][27][28][29], neural network control [30], and fuzzy logic control [31], etc.…”

Section: Introductionmentioning

confidence: 99%

Path Following Based on Waypoints and Real-Time Obstacle Avoidance Control of an Autonomous Underwater Vehicle

Yao

Wang

et al. 2020

Sensors

View full text Add to dashboard Cite

This paper studies three-dimensional (3D) straight line path following and obstacle avoidance control for an underactuated autonomous underwater vehicle (AUV) without lateral and vertical driving forces. Firstly, the expected angular velocities are designed by using two different methods in the kinematic controller. The first one is a traditional method based on Line-of-sight (LOS) guidance law, and the second one is an improved method based on model predictive control (MPC). At the same time, a penalty item is designed by using the obstacle information detected by onboard sensors, which can realize the real-time obstacle avoidance of the unknown obstacle. Then, in order to overcome the uncertainty of the dynamics model and the saturation of actual control input, the dynamic controller is designed by using sliding mode control (SMC) technology. Finally, in the simulation experiment, the performance of the improved control method is verified by comparison with two traditional control methods based on LOS guidance law. Since the constraint of an AUV’s angular velocities are considered in MPC, simulation results show that the improved control method uses MPC, and SMC not only improves the tracking quality of the AUV when switching paths near the waypoints and realizes real-time obstacle avoidance but also effectively reduces the mean square error (MSE) and saturation rate of the rudder angle. Therefore, this control method is more conducive to the system stability and saves energy.

show abstract

Optimal Robust Control of Path Following and Rudder Roll Reduction for a Container Ship in Heavy Waves

Cited by 10 publications

References 25 publications

Concise Robust Control of Marine Engine Speed Based on Backstepping and Its Fuzzy Comprehension

Concise Robust Control of Marine Engine Speed Based on Backstepping and Its Fuzzy Comprehension

A Robust Maximum Power Point Tracking Control Method for a PEM Fuel Cell Power System

Path Following Based on Waypoints and Real-Time Obstacle Avoidance Control of an Autonomous Underwater Vehicle

Contact Info

Product

Resources

About