An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System
Joint Authors
Yan, Zhao
Mao, Yun sheng
Liu, Cheng gang
Source
Journal of Control Science and Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-09-07
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated.
A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method.
Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed.
The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables.
Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances.
To validate the proposed controller, a simulation comparison with a linear PID controller was conducted.
The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.
American Psychological Association (APA)
Yan, Zhao& Mao, Yun sheng& Liu, Cheng gang. 2016. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System. Journal of Control Science and Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1107869
Modern Language Association (MLA)
Yan, Zhao…[et al.]. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System. Journal of Control Science and Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1107869
American Medical Association (AMA)
Yan, Zhao& Mao, Yun sheng& Liu, Cheng gang. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System. Journal of Control Science and Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1107869
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1107869