کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
383154 660807 2016 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Intelligent rudder control of an unmanned surface vessel
ترجمه فارسی عنوان
کنترل سکان هوشمند یک کشتی سطح بدون سرنشین
کلمات کلیدی
کنترل هوشمند؛ برنامه ریزی به دست آوردن؛ منطق فازی؛ الگوریتم ژنتیک؛ ردیابی مسیر؛ کشتی سطح بی سرنشین (USV)
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی


• Trajectory tracking control of unmanned surface vessels (USV) is addressed.
• Gain scheduling PID optimized by GA and fuzzy logic controllers applied to USV.
• Novel and efficient combination of conventional and intelligent for rudder control.
• Model generated from real data of a scale replica of the operational ship.
• Control actions feasible as actuator saturation is included.

Trajectory tracking control for unmanned marine surface vessels (USV) is quite complex because of the strongly non-linearity of the system and the presence of uncertainties and environmental changing conditions. To face those issues, in this paper intelligent and conventional strategies are used as the main control framework for the rudder angle of an USV. The guidance law calculates the desired angle and estimates the trajectory based on the dynamic model of the autonomous ship, which has been generated from real data obtained from experiments with a scale prototype. The model accounts for the physical limitations of both the rudder and the ship propulsion system. An adaptive control law is first proposed which is suitable for any different trajectory and can deal with varying path shapes. This gain scheduling approach utilizes PID controllers whose tuning parameters have been optimized by genetic algorithms (GA) for the different operation points (GS-PID-GA). Besides, a fuzzy logic controller (FLC) is designed to deal with the uncertainties of the dynamics and to include the expertise of an operator. Simulations validate the effectiveness of the proposed control approaches that have been compared with conventional control.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Expert Systems with Applications - Volume 55, 15 August 2016, Pages 106–117
نویسندگان
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