Reliability analysis of H-infinity control for a container ship in way-point tracking

Alfi, Alireza; Shokrzadeh, Amirreza; Asadi, Mehrnoosh

doi:10.1016/j.apor.2015.07.004

Cited by 30 publications

(13 citation statements)

References 15 publications

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“…An improved PID control algorithm is proposed based on nonlinear compensation principle by Nad in [12]. But all the research results in [9][10][11][12] are achieved in the simulation conditions, no practical experiments are carried out, which is the same situation in literature works [13][14][15][16][17].…”

Section: Polish Maritime Research No 2/2018mentioning

confidence: 99%

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Miao

Dong

Wan

et al. 2018

Polish Maritime Research

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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.

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Section: Polish Maritime Research No 2/2018mentioning

confidence: 99%

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Miao

Dong

Wan

et al. 2018

Polish Maritime Research

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“…The goal of using one platform over another, is on the one hand, getting a more meaningful and deeper understanding of the controller's performance to be implemented; on the other hand, getting a certain grade of reliability on its performance measure. Such measure can be expressed as risk of failure [Stengel and Marrison, 1992] or with probabilistic indices [Alfi et al, 2015] Hereafter, this set of platforms will be denoted as XiL platforms.…”

Section: Controllers' Evaluation In Engineering Designmentioning

confidence: 99%

“…While it is common to state the design objectives or constraints in a RDO sense, stating them to get reliability (RBDO) and actively using them in the optimisation process is less common. However, they are quite useful, since they provide a deeper (more reliable) insight on controller performance, its risk of failures and its expected behaviour [Alfi et al, 2015, Yurchenko and Alevras, 2014, Moberg et al, 2009, Stengel and Marrison, 1992].…”

Section: Xil Platforms Within a Mood Framework For Controller Tuning mentioning

confidence: 99%

Enhancing controller’s tuning reliability with multi-objective optimisation: From Model in the loop to Hardware in the loop

Carrau

Reynoso-Meza

García-Nieto

et al. 2017

Engineering Applications of Artificial Intelligence

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In general, the starting point for the complex task of designing a robust and efficient control system is the use of nominal models that allow to establish a first set of parameters for the selected control scheme. Once the initial stage of design is achieved, control engineers face the difficult task of Fine-Tuning for a more realistic environment, where the environment conditions are as similar as possible to the real system. For this reason, in the last decades the use of Hardware-in-The-Loop (HiL) systems has been introduced. This simulation technique guarantees realistic simulation environments to test the designs but without danger of damaging the equipment. Also, in this iterative process of Fine-Tuning, it is usual to use different (generally conflicting/opposed) criteria that take into account the sensitivities that always appear in every project, such as economic, security, robustness, performance, for example. In this frame-*

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“…Robust and adaptive schemes are always selected to sustain the system robustness. Alfi et al [8] have designed a robust H-infinity controller for tracking control of a container ship. Sliding mode controllers are also selected to solve the robust tracking control problem for underactuated ships [9,10].…”

Section: Introductionmentioning

confidence: 99%

Pre-Filtered Backstepping Control for Underactuated Ship Path Following

Liu

2019

Polish Maritime Research

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Robust path following control for underactuated surface ships is an important issue in marine control practice. This paper aims to improve the robustness of the close-loop system with model uncertainties and time-varying disturbances. A practical adaptive backstepping control scheme with a pre-filter is proposed to force a surface vessel to track the predefined path generated by the virtual ship. Based on the Lyapunov stability theorem, this algorithm can guarantee all error signals in the overall system to be uniformly ultimately bounded, and it can be implemented without exact knowledge of the nonlinear damping structure and environmental disturbances. The proposed pre-filter can smooth the commanded heading order and obtain a better performance of the waypoint-based navigation control system. Two simulation cases are drawn to illustrate the validity of the proposed control strategy.

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Reliability analysis of H-infinity control for a container ship in way-point tracking

Cited by 30 publications

References 15 publications

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

Enhancing controller’s tuning reliability with multi-objective optimisation: From Model in the loop to Hardware in the loop

Pre-Filtered Backstepping Control for Underactuated Ship Path Following

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