Studies on an algorithm to control the roll motion using active fins

Surendran, S.; Lee, S.K.; Kim, S.Y.

doi:10.1016/j.oceaneng.2006.01.008

Cited by 53 publications

(27 citation statements)

References 12 publications

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“…Components that make up the physical model and mathematical model of single degree of freedom ship roll motion are generated from Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat Taylan's [20] and Surendran's [19] previous studies and they are expressed on the basis of the following assumptions:…”

Section: Ship Roll Motion Mathematical Modelmentioning

confidence: 99%

“…This value has been expressed as below based on weight displacement of ship, breadth and the vertical distance of the center of gravity [19]. (2) The roll damping coefficients are considered as skin friction of the hull, eddy shedding from the hull, free surface waves, lift effect damping and bilge keel damping.…”

Section: Ship Roll Motion Mathematical Modelmentioning

confidence: 99%

“…Surendran et al [19] used active fins to minimize roll motion of a ship by means of the PID controller. Guan and Zhang [6] offered nonlinear fin roll control originated from integrator backstepping associated with nonlinear damping term.…”

Section: Introductionmentioning

confidence: 99%

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Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat

Alarçïn

Demirel

et al. 2013

Polish Maritime Research

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Section: Ship Roll Motion Mathematical Modelmentioning

confidence: 99%

Section: Ship Roll Motion Mathematical Modelmentioning

confidence: 99%

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Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat

Alarçïn

Demirel

et al. 2013

Polish Maritime Research

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“…In practical engineering applications, most surface vessels can be stabilized equipping with fin stabilizers controlled by PID method [12,13]. PID controller is simple and it is of high reliability.…”

Section: Introductionmentioning

confidence: 99%

“…Fang et al [12] studied the application of the self-tuning neural network PID controller on the vessel roll reduction in random waves. Surendran et al [13] researched on an algorithm to control the roll motion using active fins. Crossland [14] analyzed the effect of roll stabilization controllers on war-vessel operational performance.…”

Section: Introductionmentioning

confidence: 99%

Design Fuzzy Input-Based Adaptive Sliding Mode Control for Vessel Lift-Feedback Fin Stabilizers with Shock and Vibration of Waves

Liang

Sun

Luan

2017

Shock and Vibration

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An adaptive sliding mode controller based on fuzzy input design is presented, in order to reduce the roll motion of surface vessel fin stabilizers with shock and vibration of waves. The nonlinearities and uncertainties of the system including feedback errors and disturbance induced by waves are analyzed. And the lift-feedback system is proposed, which improves the shortage of conventional fin angle-feedback. Then the fuzzy input-based adaptive sliding mode control is designed for the system. In the controller design, the Lyapunov function is adopted to guarantee the system stability. Finally, experimental results demonstrate the superior performance of the controller designed using fuzzy input, when compared to the PID controller used in practical engineering.

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Gyroscopic precession control for maneuvering two‐wheeled robot recoil stabilization

Çetin,

Ünker

2024

Journal of Field Robotics

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A two‐wheeled robot has high maneuverability and can spin around with a high velocity but is prone to roll over under a recoil force. Because the wheels are only used to control the maneuver speed of the robot. However, a two‐wheeled robot using a gyroscope does not need the control of the wheels and can maintain the stability of the robot under a recoil force during maneuvers even if the gimbal of the gyroscope is not controlled by a torque. In this study, the equations of motion of the gyroscopic robot are derived via Lagrangian equations, and the balancing performance of the uncontrolled gyroscope is simulated via Matlab to determine a desired configuration for mechatronics system design. Then, a linear‐quadratic regulator (LQR) is implemented to the chosen control moment gyroscope (CMG) configuration and compared in simulations of RecurDyn. LQR controller was used to prevent oscillating motions of double CMGs under the recoil force of a weapon. The simulation results showed that the gyroscopic two‐wheeled robot is improved using an LQR controller and powerfully balanced in static with excellent performance.

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Studies on an algorithm to control the roll motion using active fins

Cited by 53 publications

References 12 publications

Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat

Modified pid control design for roll fin actuator of nonlinear modelling of the fishing boat

Design Fuzzy Input-Based Adaptive Sliding Mode Control for Vessel Lift-Feedback Fin Stabilizers with Shock and Vibration of Waves

Gyroscopic precession control for maneuvering two‐wheeled robot recoil stabilization

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