Article
Engineering, Marine
Hongbiao Zhao, Xiaowei Gao, Yujia Zhang, Xianku Zhang
Summary: In this study, an extended state observer was proposed to handle the uncertainty of ship models and estimate external disturbances. An improved dynamic virtual ship guidance algorithm and an energy-saving ship path following controller were developed by combining nonlinear feedback and adaptive backstepping. The proposed nonlinear control algorithms resulted in improved path following control, reducing the average ship output rudder angle by 17%, average steering power by 10%, Energy Efficiency Design Index (EEDI) by 2%, increasing the average ship speed by 0.3 knots, and reducing carbon dioxide emissions during general shipping by 32.45%. It is anticipated that the proposed algorithm will play an essential role in the process of decarbonization in shipping.
Article
Engineering, Marine
Zhiquan Liu
Summary: This study aims to improve the path following control of underactuated surface vessels by using an improved extended state observer based line-of-sight method. The research shows that the guidance law and course tracking accuracy can be affected by large roll motion and nonzero drift angle, and both factors should be considered when designing the path following control system. The robustness of the tracking control system is enhanced by handling system dynamic uncertainty and external random disturbances.
Article
Engineering, Civil
Yingjie Deng, Zhuxin Zhang, Mingde Gong, Tao Ni
Summary: This paper proposes an event-triggered adaptive neural asymptotic tracking control framework for underactuated ships, which utilizes radial basis function neural networks and hyperbolic tangent functions to achieve high-precision tracking performance.
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
(2023)
Article
Engineering, Marine
Yingjie Deng, Xianku Zhang, Dingxuan Zhao, Tao Ni, Mingde Gong, Zhuxin Zhang
Summary: This paper investigates the high-precision path following control problem of underactuated ships suffering from stochastic sea loads. By establishing the ship motion model and introducing an adaptive neural network asymptotic control framework, the control of the ships is achieved. Numerical experiments validate the effectiveness of the proposed scheme.
Article
Automation & Control Systems
Jeanne Redaud, Jean Auriol, Silviu-Iulian Niculescu
Summary: This paper addresses the output feedback stabilization of a one-dimensional chain of scalar hyperbolic systems coupled with a finite-dimensional system at one end, using a recursive dynamics interconnection framework to design state predictor and observer for output feedback control.
SYSTEMS & CONTROL LETTERS
(2021)
Article
Mathematics, Applied
Kevin Herman Muraro Gularte, Juan Carlos Gonzalez Gomez, Hiago dos Santos Rabelo, Jose Alfredo Ruiz Vargas
Summary: This work focuses on the synchronization problem of a class of underactuated hyperchaotic systems. Based on Lyapunov theory, a method is proposed that assumes a small initial synchronization error to simplify the synchronizer structure. The proposed method ensures the convergence of the synchronization error to a neighborhood of the origin, even in the presence of full-state disturbances. A comparison study is conducted to highlight the advantages of the proposed method, and a secure communication system based on the synchronization approach is implemented using analog electronics to demonstrate a typical application.
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
(2023)
Article
Automation & Control Systems
Haitong Xu, P. Oliveira, C. Guedes Soares
Summary: An L1 adaptive backstepping controller is proposed for path-following control of an underactuated ship, with a focus on robustness and fast adaptation, using Lyapunov control function. The guidance system is affected by the performance of the controller, and the Lyapunov method is employed to show the equilibrium point of the whole system is uniformly globally asymptotically stable.
EUROPEAN JOURNAL OF CONTROL
(2021)
Article
Chemistry, Analytical
Sang-Do Lee, Yong-Seung Song, Dae-Hae Kim, Ma-Ru Kang
Summary: This paper focuses on the autonomous recovery maneuvers of an unknown underactuated practical catamaran, which returns to its initial position corresponding to the man overboard (MOB) by adjusting the rate of turn. The paper addresses the difficulties of model-based path following control and investigates the problem of differential calculation for an underactuated model in the case of complex reference trajectories under severe disturbances. Experimental tests and numerical simulations demonstrate the effectiveness of the proposed algorithms.
Article
Engineering, Ocean
Le Wang, Shijie Li, Jialun Liu, Qing Wu
Summary: This paper introduces an intelligent optimization predictive reinforcement learning algorithm for motion control of an underactuated cargo ship. Training data sets and reward data sets are obtained through PID control, and appropriate regression algorithms are selected for training. The experimental results show that the designed ship motion controller has good path-following capability in uncertain conditions.
APPLIED OCEAN RESEARCH
(2022)
Article
Engineering, Marine
Shijie Li, Chengqi Xu, Jialun Liu
Summary: This paper proposes a data-driven approach for predictions and control of underactuated ships in inland waterways. The approach enables autonomous navigation and reduces path-following errors using a predictive model and controller.
JOURNAL OF NAVIGATION
(2022)
Article
Automation & Control Systems
Shanshan Wang, Jie Qi, Mamadou Diagne
Summary: An adaptive full-state feedback controller was designed to stabilize a one-dimensional reaction-diffusion equation with unknown boundary input delay. The system was transformed into a transport PDE cascading with a reaction-diffusion PDE using an infinite-dimensional representation of the actuator delay, and a suitable parameter update law was designed to establish local boundedness and asymptotic convergence stability. Consistent simulation results were provided to support the theoretical findings.
Article
Engineering, Marine
Muhammad Muzammal Islam, Syed Ahmad Siffat, Iftikhar Ahmad, Muwahida Liaquat
Summary: This paper proposes Robust Integral Backstepping, Synergetic, and Terminal Synergetic controllers for course keeping control of ships, aiming at improving course keeping performance and reducing energy consumption. The efficiency of these controllers is assessed by computing output response, energy consumption, and smoothness performances.
Article
Automation & Control Systems
Alper Bayrak, Enver Tatlicioglu
Summary: A novel online adaptive time delay identification method is proposed for signal processing and communication applications where the delay values are uncertain. The method relies on a filtered form of a prediction error-like term and a novel nonlinear adaptive update law. The stability of the algorithm is investigated using Lyapunov based tools and the time delay identification is proven to be globally uniformly ultimately bounded. Numerical simulations demonstrate successful identification of constant, slowly varying and suddenly changing delays even in the presence of additive noise.
Article
Automation & Control Systems
Shijie Li, Ziqian Xu, Jialun Liu, Chengqi Xu
Summary: This paper presents a data-driven control strategy for path-following of underactuated ships. By utilizing experiment data to learn the characteristics of unknown ship dynamics, a linear model is constructed and integrated with a model predictive control framework to achieve good path-following performance.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Computer Science, Information Systems
Yang Chen, Nan Li, Wei Zeng, Shiqian Zhang, Guifang Ma
Summary: A Lyapunov stable curved path following controller was designed in this study, considering the steering dynamic characteristics and utilizing the backstepping technique and Lyapunov stability theory. The proposed method showed faster convergence to predefined paths and smaller error overshoot compared to traditional steering control laws that neglect steering dynamics.