Study on adaptive switching control for autonomous surface vehicle
An Autonomous Surface Vehicle (ASV) will inevitably be swayed by the waves, winds, currents, and other environmental disturbances in rough sea.Violent rolls will also result in the ASVs overturning.One of the difficulties encountered in designing a suitable controller for roll damping is the production of a controller that will be effective for all sea states and wave encounter angles, This paper proposes a kind of switching controller based extension method for ASV, which can switch automatically to the appropriate con trol strategy.Three strategies are studied for rudder roll damping and anti-overturn control.Every control strategy can realize effective control within the scope of control.Controller performance is optimized to minimize roll motions in beam seas.This paper carries out the simulation under sea situations to test the roll reduction and robustness of the roll controller designed.
M.H.Wang Y.Q.Yu W.Lin
Faculty of Computer Science, Guangdong University of Technology, Gruangzhou, China
国际会议
International Symposium on Extenics and Innovation Methods(可拓性与创新方法国际研讨会)
北京
英文
205-212
2013-08-16（万方平台首次上网日期，不代表论文的发表时间）