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SSRN 2023年

作者： Sun, Mingxiao Lian, Houxin Luan, Tiantian Zhang, Xiaoshuang Wu, Baoqi Wang, Hanxu School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Jiangsu Automation Research Institute No. 18 Shenghu Road Haizhou District Jiangsu Province Lianyungang City222000 China

To shorten the deviation between the roll motion model of ships equipped with Magnus rotating roll stabilizer and actual motion, a full-speed lift calculation method is proposed. By combining the micro-element method with the mechanism of the Magnus effect force, the lift law of the rotating stabilizer in different modes could be obtained theoretically. Subsequently, correction factors are fitted for different operating conditions to correct the full-speed lift model through hydrodynamic simulation analysis of the stabilizer. In addition, RBF neural networks are also introduced to address the uncertainty and nonlinearity of ship models under high winds and waves. This network is used to predict nonlinear ship models with uncertainty to optimize the anti-rolling effect of the sliding mode controller. As a result, the corrected lift model can accurately predict the real-time lift changes of the Magnus rotating stabilizer in both rotating and swing-rotating modes. The maximum deviation rate doesn’t exceed 8.5% compared to the simulation. The adaptability of the anti-rolling control system is improved. And the sliding mode control algorithm based on RBF neural network has the outstanding anti-rolling ability under various conditions, with a maximum anti-rolling efficiency of over 98%. © 2023, The Authors. All rights reserved.

关键词： Sliding mode control

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The Hybrid Path Planning Algorithm Based on Improved Artificial Potential Field and Grid Method for Uuv in 3d Environments

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SSRN 2023年

作者： Sun, Mingxiao Zhen, Liqiang Luan, Tiantian Zhang, Xiaoshuang Wu, Baoqi School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Jiangsu Automation Research Institution No. 18 Shenghu Road Haizhou District Jiangsu Province Lianyungang City222000 China

The artificial potential field approach (APFA) has the advantages of short computation time and easy implementation, which is widely used in path planning. The problems of local oscillation and susceptibility to local minima for APFA are considered in three dimensions (3D) path planning application of unmanned underwater vehicle (UUV), and the artificial potential field grid method (APFG) is proposed. Firstly, the obstacles are rasterized in 3D map. The repulsive points are attached to the surface of the raster to change the repulsive influence range, which can compensate the shortcoming of the traditional APFA modelling idealization leading to the long planning path. At the same time, the repulsion function on the grid surface is changed so that the potential field on the grid surface is parallel to the grid surface, which will solve the local oscillation problem in the path planning of UUV. Then, virtual target points are introduced to avoid the UUV falling into local optimization. The simulations show that APFG effectively overcomes the shortcomings of local oscillations and the tendency to fall into local minima for UUV in 3D path planning, and the path planning is smooth and efficient. © 2023, The Authors. All rights reserved.

关键词： Unmanned underwater vehicles

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3d Path Planning for Uuv Based on Artificial Potential Field Grid Method

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SSRN 2023年

关键词： Motion planning

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Non-Singular Fixed-Time Robust Containment Control for Autonomous Surface Vehicles

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SSRN 2023年

作者： Ma, Junda Sun, Hefang Tan, Chong Zhao, Tianyuan Liu, Ke College of Automation Harbin University of Science and Technology Harbin150000 China Provincial Key Laboratory of Complex Intelligent System and Integration Harbin150000 China College of Journalism and Communication Jilin University Changchun130000 China College of Measurement and Control Technology and Communication Engineering Harbin University of Science and Technology Harbin150000 China

For the containment control problem of autonomous surface vehicles with external disturbances, a novel non-singular fixed-time control scheme is developed, where the multi-ship system consists of real leaders and followers. In contrast with traditional containment cases studied in most of the existing literature, the real leaders are required to track the desired trajectories, and the followers need to get into the convex hull spanned by the real leaders in fixed time. The method for solving the fixed-time containment control problem is divided into the following steps: Firstly, a fixed-time disturbance observer is designed to estimate the external disturbance for the leaders and the followers, and the estimation result is used to compensate for the input of the control system;Second, combined with fixed-time stability theory and a switch function, a non-singular fixed-time trajectory tracking controller for leaders is designed, such that the position tracking error could be bounded within a fixed time;Third, to achieve formation efficiently, a non-singular fixed-time containment controller strategy incorporating with graph theory is proposed for coordinating followers, such that the fixed-time stability can be ensured. Finally, simulation examples are given to demonstrate the effectiveness of the proposed method. © 2023, The Authors. All rights reserved.

关键词： Graph theory

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An Anti-Rolling Control Method of Rudder Fin system Based on Adrc Decoupling and Ddpg Parameter Adjustment

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SSRN 2022年

作者： Sun, Mingxiao Zhang, Wenyu Zhang, Yongde Luan, Tiantian Yuan, Xiaoliang Li, Xiaogang School of Automation Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No.52 Xuefu Road Nangang District Heilongjiang Province Harbin City150080 China Wuxi CREG Urban Rail Transit Equipment Co. Ltd No. 1061 Jiaoshan Road Xishan Development Zone Jiangsu Province Wuxi214000 China

To achieve high-precision attitude control of ships, the output delay, state coupling, and controller parameter maladjustment of the rudder fin joint anti-rolling system are studied. A predictive anti-rolling method based on active disturbance rejection control (ADRC) and deep deterministic policy gradient (DDPG) is proposed. The external forces on the ship are analyzed, and a three-degree-of-freedom mathematical model considering rolling, yawing, and pitching is established. The model is decoupled using the idea of ADRC total disturbance for the state coupling problem, then the pitch ADRC controller and the roll-yaw predictive observer are designed respectively. In pitch ADRC, the nonlinear extended state observer (NLESO) is used to observe the total disturbance between models. And the total disturbance observations are feedforward compensated to the error control law. As a result, the rapidity of reference output tracking and robustness of total disturbance are realized. The roll-yaw predictive observer solves the output delay by feeding the predicted output back to the controller instead of the actual output. To ensure the accuracy of the prediction output, the DDPG algorithm is introduced to modify the parameters of the prediction observer in real-time. Finally, state constraints are added to solve the rudder angle and fin angle control laws. © 2022, The Authors. All rights reserved.

关键词： Controllers

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