Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle
Joint Authors
Wang, Hongjian
Wang, Linlin
Pan, Lixin
Source
Journal of Applied Mathematics
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-09-01
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wang, Hongjian& Wang, Linlin& Pan, Lixin. 2014. Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle. Journal of Applied Mathematics،Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1039661
Modern Language Association (MLA)
Wang, Hongjian…[et al.]. Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle. Journal of Applied Mathematics No. 2014 (2014), pp.1-15.
https://search.emarefa.net/detail/BIM-1039661
American Medical Association (AMA)
Wang, Hongjian& Wang, Linlin& Pan, Lixin. Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle. Journal of Applied Mathematics. 2014. Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1039661
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1039661