A Model-Based Adaptive Control of Turning Maneuver for Catamaran Autonomous Surface Vessel

Q3 Mathematics WSEAS Transactions on Systems and Control Pub Date : 2024-05-09 DOI:10.37394/23203.2024.19.14

I. Astrov, Irina Astrova

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Abstract

The effective computer control of airborne, waterborne, and ground autonomous vehicles has become one of the highest priorities in the area of cyber-physical systems, Industry 4.0 in particular, and the world economy in general. Despite extensive research on Unmanned Aerial Vehicles (UAVs), the study of Autonomous Surface Vessels (ASVs) has been more than ten times less intense. As an attempt to fill a gap in that field, this article discusses the control mathematics of a realistic ASV nonlinear model of a real autonomous electric catamaran “Nymo”, which was designed at Tallinn University of Technology (TalTech). More technically, the article offers a novel adaptive control system that is based on knowledge of the main parameters of ASV and is specially designed for a Simulink/MATLAB environment. The article also enables adjusting variables like transition time and heading angle overshoot value. The control of the desired tracking is represented in such a maneuver as turning the catamaran at different angles. The designed control system has shown good quality in terms of accuracy in tracking the desired heading angles.

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基于模型的双体自主水面舰艇转弯机动自适应控制

对空中、水上和地面自主飞行器进行有效的计算机控制已成为网络物理系统领域，特别是工业 4.0，乃至整个世界经济的重中之重。尽管对无人驾驶飞行器（UAV）进行了广泛的研究，但对自主水面舰艇（ASV）的研究却少了十多倍。为了填补这一领域的空白，本文讨论了塔林理工大学（TalTech）设计的真实自主电动双体船 "Nymo "的现实 ASV 非线性模型的控制数学。在技术上，文章提供了一种基于 ASV 主要参数知识的新型自适应控制系统，该系统专为 Simulink/MATLAB 环境设计。该系统还可以调整过渡时间和航向角超调值等变量。所需的跟踪控制体现在以不同角度转动双体船这样的操作中。所设计的控制系统在跟踪所需航向角的精度方面表现出良好的质量。

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来源期刊

WSEAS Transactions on Systems and Control Mathematics-Control and Optimization

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1.80

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0.00%

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期刊介绍： WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.