Study on Application of T‐S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

Zhang, Xun; Hu, Xinglin; Zhao, Yiwen; Tang, Zhaodong

doi:10.1155/2014/631396

Cited by 2 publications

(1 citation statement)

References 20 publications

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“…Furthermore, fuzzy strategy and neural network can be used to estimate uncertainty items online to reduce system chattering. 21 Zhang et al have issued an adaptive sliding control method, switch gain adjustment method has been employed to deal with chattering problem, and network has been employed to estimate unknown items online. 22 But the feedforward network requires a great number of neurons to represent dynamical responses; moreover, the approximation function of neuron is difficult to interpret.…”

Section: Introductionmentioning

confidence: 99%

Autonomous underwater vehicle precise motion control for target following with model uncertainty

Huang

Zhang

Hongde

et al. 2017

International Journal of Advanced Robotic Systems

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Target following plays an important role in oceanic detection and target capturing for autonomous underwater vehicles. Due to the model nonlinearity and external disturbance, the dynamic model of a portable autonomous underwater vehicle was usually established with parameter uncertainties. In this article, a petri-based recurrent type 2 fuzzy neural network has been built to approximate the unknown autonomous underwater vehicle dynamics. The type 2 fuzzy logic system has been applied to the network to improve the approximation accuracy for systematic nonlinearity, and the petri layer in the network can improve estimation speed and reduce energy consumption. A petri-based recurrent type 2 fuzzy neural network-based adaptive robust controller has been proposed for target tracking. In the offshore experiments, the proposed controller has not only realized stable position and pose control but also successfully followed mobile target on the surface. In the tank underwater experiments, the pipeline target has been successfully followed to further verify the controller performance.

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Section: Introductionmentioning

confidence: 99%

Autonomous underwater vehicle precise motion control for target following with model uncertainty

Huang

Zhang

Hongde

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

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Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 2: Model validation

Li¹,

Yan

Qin

et al. 2015

Teh. vjesn.

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Original scientific paper Unexpected severe hull deformation caused by wave loads poses alignment problem to the propulsion shaft line in large scale ships, which would significantly influence the dynamical performance of the marine propulsion system. How to suppress negative disturbance imposed by the interaction between water-hull-propulsion and ensure the normal operation of the marine propulsion system is a challenging task. To address this issue, a new global sliding model control (GSMC) for marine water-hull-propulsion unit systems is proposed and investigated to obtain more accurate control performance in a series of researches. In Part 1 the GSMC controller has been developed and the bounded nonlinear model uncertainties have been derived based on the experiments and sea trial. In this work the upper boundary of 1,85 % was introduced into the GSMC controller to derive the total control law realising the robust control of the marine propulsion system. Numerical simulations based on the real bulk carrier parameters show a high effectiveness of the GSMC for speed tracking, compared with the traditional sliding model controller and Proportional Integral Derivative (PID) controller. By the proposed and investigated control system in this paper may be developed a simple practical-effective robust control strategy for marine propulsion systems subject to some complex unknown uncertainties through further investigations, validations and modifications.Keywords: global sliding model control; marine propulsion system; nonlinear control model; uncertainties in marine propulsion system; water-hullprolusion unit interactions Upravljanje izdržljivim globalnim kliznim modelom za interakcijske sustave voda-trup-pogonska jedinica -Dio 2: Potvrđivanje modelaIzvorni znanstveni članak Neočekivana jaka deformacija trupa uzrokovana težinom valova predstavlja problem centriranja pogonskog osovinskog voda kod velikih brodova, što bi značajno utjecalo na dinamičke performanse brodskog pogonskog sustava. Kako smanjiti negativne poremećaje nastale interakcijom između vode-trupapogona i osigurati normalni rad brodskog pogonskog sustava, predstavlja pravi izazov. U tu se svrhu nizom istraživanja predlaže i ispituje novi globalni regulator kliznog modela (GSMC) za brodske sustave voda-trup-pogon kako bi se postiglo što točnije funkcioniranje upravljačkog sustava. U dijelu 1 ovoga istraživanja razvijen je upravljački mehanizam (GSMC controller) te ustanovljene granične nesigurnosti nelinearnog modela na temelju eksperimenata i pokusne plovidbe na moru. U ovom je radu uvedena gornja granica od 1,85 % u upravljanju regulatorom kliznog modela kako bi se dobio zakon o cjelokupnom upravljanju kojim bi se omogućilo sigurno upravljanje brodskim pogonskim sustavom. Numeričke simulacije na temelju parametara broda za rasuti teret pokazuju da je GSMC visoko učinkovit u praćenju brzine u usporedbi s tradicionalnim upravljačkim mehanizmom kliznog modela i upravljačkim mehanizmom Proportional Integral Derivative (PID). Dodatnim istraživanjima, prov...

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Study on Application of T‐S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

Cited by 2 publications

References 20 publications

Autonomous underwater vehicle precise motion control for target following with model uncertainty

Autonomous underwater vehicle precise motion control for target following with model uncertainty

Robust global sliding model control for water-hull-propulsion unit interaction systems - Part 2: Model validation

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