Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle
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 (gene...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/347589 |
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| _version_ | 1832561867791269888 |
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| author | Hongjian Wang Linlin Wang Lixin Pan |
| author_facet | Hongjian Wang Linlin Wang Lixin Pan |
| author_sort | Hongjian Wang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-afd640255dd74a6f99e3f0a6ab4bebce |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-afd640255dd74a6f99e3f0a6ab4bebce2025-02-03T01:24:07ZengWileyJournal of Applied Mathematics1110-757X1687-00422014-01-01201410.1155/2014/347589347589Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface VehicleHongjian Wang0Linlin Wang1Lixin Pan2College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaBeijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190, ChinaConsidering 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.http://dx.doi.org/10.1155/2014/347589 |
| spellingShingle | Hongjian Wang Linlin Wang Lixin Pan Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle Journal of Applied Mathematics |
| title | Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle |
| title_full | Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle |
| title_fullStr | Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle |
| title_full_unstemmed | Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle |
| title_short | Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle |
| title_sort | research on roll stabilizing based on energy optimization for autonomous surface vehicle |
| url | http://dx.doi.org/10.1155/2014/347589 |
| work_keys_str_mv | AT hongjianwang researchonrollstabilizingbasedonenergyoptimizationforautonomoussurfacevehicle AT linlinwang researchonrollstabilizingbasedonenergyoptimizationforautonomoussurfacevehicle AT lixinpan researchonrollstabilizingbasedonenergyoptimizationforautonomoussurfacevehicle |