Steering Controller Design for Smart Autonomous Surface Vessel Based on CSF L2 Gain Robust Strategy

Guan, Wei; Cao, Weinan; Sun, Jinghai; Su, Zuojing

doi:10.1109/access.2019.2931887

Cited by 11 publications

(7 citation statements)

References 25 publications

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“…Because of the symmetrical structure of ships, the parameters a 0 � a 2 � 0 [34] and α 1 is set as +1 for stable ships and − 1 for unstable ones, while the value of α 3 , known as the Norbin coefficient [14], can be determined via the ship turning test.…”

Section: Iasv Mathematical Modelmentioning

confidence: 99%

Ship Steering Control Based on Quantum Neural Network

Guan

Zhou

et al. 2019

Complexity

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During the mission at sea, the ship steering control to yaw motions of the intelligent autonomous surface vessel (IASV) is a very challenging task. In this paper, a quantum neural network (QNN) which takes the advantages of learning capabilities and fast learning rate is proposed to act as the foundation feedback control hierarchy module of the IASV planning and control strategy. The numeric simulations had shown that the QNN steering controller could improve the learning rate performance significantly comparing with the conventional neural networks. Furthermore, the numeric and practical steering control experiment of the IASV BAICHUAN has shown a good control performance similar to the conventional PID steering controller and it confirms the feasibility of the QNN steering controller of IASV planning and control engineering applications in the future.

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Section: Iasv Mathematical Modelmentioning

confidence: 99%

Ship Steering Control Based on Quantum Neural Network

Guan

Zhou

et al. 2019

Complexity

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“…Another challenge, ASV, when operated on the sea yaw angle, is exposed to disturbances. Therefore robust control is suggested by W. Guan et al [9]. The technique used was closed-loop shaping, which incorporates with recursive least squares method.…”

Section: Introductionmentioning

confidence: 99%

Autonomous surface vessel for search and rescue operation

et al. 2021

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Search and rescue operation is performed to save human life, for example during natural disasters, unfortunate incidents on the land, in the deepwater, or lakes. There were incidents happened to the search and rescue crew during the operation although they were well trained. A new method using robotic technology is important to reduce the crew's risk during operations. This research proposed a development of an autonomous surface vessel for search and rescue operations for deepwater applications. The proposed autonomous surface vessel is equipped with a global positioning system (GPS) and underwater sensor to search for the victims, black box, debris, or other evidence on the surface and underwater. The vessel was designed with monitoring and control via radio frequency wireless communication. The autonomous surface vessel prototype was developed and tested successfully with the telemetry at the ground station. The ground station acts as the control centre of the overall system. Results showed the vessel successfully operated autonomously. The operator at the ground station was able to monitor the sensor data and control the vessel's manoeuvre according to the created path. The telemetry coverage to monitor the water surroundings and control the vessel's manoeuvre was around 100 meters.

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“…Controller which is designed with nonlinear robust has been largely applied in the marine transportation fields. In [16], the authors formulated a simple controller and fixed parameters for verifying the control performance and robustness using a simulation test for a MASS (Maritime Autonomous Surface Ship) ship.…”

Section: Introductionmentioning

confidence: 99%

Using Sine Function-Based Nonlinear Feedback to Control Water Tank Level

et al. 2021

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This manuscript addresses the feasibility and significance of using a sine function to modify the system error of a normal linear feedback control to achieve more efficient capabilities in terms of energy-saving. The associated mathematic modeling and assessment were demonstrated by presenting a case analysis on the capabilities of controlling water level for a single tank. The principle of robust control and the theories and detailed algorithm of Lyapunov stability were applied to assess the result derived by novel nonlinear feedback in the form of sine function for optimizing the robustness of the PID (Proportional–Integral–Derivative) controller and economizing energy. Two control simulations are compared: nonlinear feedback control using a sine function and conventional fuzzy control. The results reveal that using the nonlinear feedback controller, a reduction of up to 32.9% of the average controlled quantity is achieved, and the performance index is improved by 24.0% with satisfactory robustness. The proposed nonlinear feedback control using a sine function provides simplicity, convenient implementation, and energy efficiency.

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Steering Controller Design for Smart Autonomous Surface Vessel Based on CSF L2 Gain Robust Strategy

Cited by 11 publications

References 25 publications

Ship Steering Control Based on Quantum Neural Network

Ship Steering Control Based on Quantum Neural Network

Autonomous surface vessel for search and rescue operation

Using Sine Function-Based Nonlinear Feedback to Control Water Tank Level

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