Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle

Abstract

Considering the case of ASV (autonomous surface vehicle) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Control system design is based on GPC (general predictive control) theory and working principle of zero-speed fin stabilizer. Coupling horizontal motion model of ASV is decoupled, and an equivalent transfer function of roll motion is obtained and transformed into a discrete difference equation through inverse Laplace transformation and Euler approximation. Finally, predictive model of GPC, namely, the difference equation of roll motion, is given. GPC algorithm of ASV roll motion is derived from performance index based on roll stabilizing performance and energy consumption used for driving fin stabilizer. In allusion to time-variant parameters in roll motion model, recursive least square method is adopted for parameter estimation. Simulation results of ASV roll motion control show better stabilizing performance and minimized energy consumption improved by self-adaptive GPC.

Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

“…where × is the identity matrix with dimensions × , which is the number of outputs, and is a × 1 zero matrix. In (6), , , For notational simplicity, we denote (6) by…”

“…Relevant research work based on roll additional resistance is proposed in [5]. Energy consumption used for driving fin stabilizer is added to performance in [6], GPC controller is designed, and recursive least square method is adopted for parameter estimation. An optimal path planning control of AUV based on rolling optimization is proposed in [7], in order to conduct the path of optimal energy consumption.…”

“…The predictive control of AUV motion is one of the main research areas in marine control systems field. Several research works in this area were based on using GPC as the main controller for yaw [10], roll [6], depth [11], and propulsion BLDC motor [12].…”