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Guidance And Control Of Ocean Vehicles

This paper is concerned with a Takagi–Sugeno (T–S) fuzzy dynamic positioning controller design for an unmanned marine vehicle (UMV) in network environments. Network-based T–S fuzzy dynamic positioning system (DPS) models for the UMV are first established. Then, stability and stabilization criteria are derived by taking into consideration an asynchronous difference between the normalized membership function of the T–S fuzzy DPS and that of the controller. The proposed stabilization criteria can stabilize states of the UMV. The dynamic positioning performance analysis verifies the effectiveness of the networked modeling and the controller design.

Network-Based T–S Fuzzy Dynamic Positioning Controller Design for Unmanned Marine Vehicles

This paper surveys the recent advances in marine mechatronic systems from a control perspective. The survey is by no means exhaustive, but introduces some notable results in marine control area. New developments in terms of control system designs for surface vessels, underwater robotic vehicles, profiling floats, underwater gliders, wave energy converters, and offshore wind turbines are briefly reviewed. In addition, a few avenues for future research are identified.

Advanced Control in Marine Mechatronic Systems: A Survey

This paper proposes a novel fault tolerant control strategy for dynamic positioning of unmanned marine vehicles using the quantized feedback sliding mode control technique. Due to the complex ocean environment, the unmanned marine vehicles are modeled as the Takagi-Sugeno fuzzy system with unknown membership functions. When the membership functions are not available, traditional sliding mode control technique becomes infeasible. To tackle this difficulty, a novel quantized sliding mode control strategy based on switching mechanism is designed to compensate for thruster faults effects. In addition, the phenomenon of time-varying delay leads to conservativeness of the existing dynamic quantization parameter adjustment strategy. Then a larger quantization parameter adjustment range, by taking time delay and fault factor into account, is given. Combining the novel sliding mode controller design and the improved dynamic quantization parameter adjustment strategy, the dynamic positioning of unmanned marine vehicles with thruster faults and quantization can be maintained. Finally, the effectiveness of the proposed method is verified through the simulation comparison results.

Fault Tolerant Control for Dynamic Positioning of Unmanned Marine Vehicles Based on T-S Fuzzy Model With Unknown Membership Functions

Vehicle dynamics and the need to satisfy ride quality requirements have long been recognized as crucial to the commercial success of passenger carrying transportation systems. Design concepts for maglev systems are no exception. The work reported here was undertaken with the intention of summarizing information that has been accumulated worldwide and that is relevant to dynamic stability of repulsive-force maglev systems, assimilating that information, and gaining an understanding of the factors that influence that stability. Included in the paper is a discussion and comparison of results acquired from some representative tests of large-scale vehicles on linear test tracks, together with analytical and laboratory-scale investigations of stability and dynamics of EDS systems. The paper also summarizes the R and D activities at Argonne National Laboratory since 1991 to study the nature of the forces that are operative in an EDS system and the dynamic stability of such systems.

Review of dynamic stability of repulsive-force maglev suspension systems

Remotely operated vehicles equipped with a robotic manipulator are utilized in several underwater/deep sea applications. Control of these type of systems are mostly provided by obtaining the proper position for the end effector of robotic manipulator which constitutes the desired motion for remotely operated vehicle. This situation makes the control of robotic manipulators is really important subject for underwater applications. In this work, we study tracking control of a one degree-of-freedom rigid link in a cross flow. Systems operating at underwater (including this one) are hard to model accurately, and as a result their models include several uncertainties. To reject these modeling uncertainties and external ones, two robust controllers are proposed. Stability of the closed-loop system and the asymptotic convergence of the tracking error are proven mathematically. Numerical simulations are performed to demonstrate the viability of the proposed controller.

Robust control of a rigid link in a cross flow

A New Robust Controller Formulation for the Full–State Feedback Position Tracking of a Small–Scaled Unmanned Model Helicopter

This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.

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Papers

Robust control of a rigid link in a cross flow

A New Robust Controller Formulation for the Full–State Feedback Position Tracking of a Small–Scaled Unmanned Model Helicopter

A self-tuning velocity observer formulation for a class of nonlinear systems