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Weather optimal area-keeping control for underactuated autonomous surface vehicle with input time-delay

Tuo Yulong|Wang Shasha|Wang Dan
대한조선학회 (The Society Of Naval Architects Of Korea)|2022.12|International Journal of Naval Architecture and Ocean Engineering|제14권 |pp. 1-10|DOI 10.1016/j.ijnaoe.2022.100456

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참고문헌

키워드

Sliding mode controlArea-keeping controlAutonomous surface vehicleWeather optimal intermittent strategyInput time-delay
주제분류조선공학

초록

The problem of the underactuated Autonomous Surface Vehicle (ASV) area-keeping control under unknown slow time-varying external environment disturbances and input time-delay, an integral timedelay sliding mode control algorithm based on weather optimal intermittent strategy is proposed in this article. Firstly, integral time-delay sliding mode control law is constructed, with controller parameters chosen according to the upper bound of time-delay. In the control law, a geometric updating rule is designed for the virtual suspension point, which enables ASV at a particular small area with a weather optimal heading. And, weather optimal intermittent strategy is developed to extend the area-keeping control method, while reducing ASV energy consumption. Besides, the closed-loop system is globally asymptotically stable through Lyapunov-Krasovskii analysis. Finally, the performance of the proposed algorithm is illustrated through the simulation examples.

Abstract

The problem of the underactuated Autonomous Surface Vehicle (ASV) area-keeping control under unknown slow time-varying external environment disturbances and input time-delay, an integral timedelay sliding mode control algorithm based on weather optimal intermittent strategy is proposed in this article. Firstly, integral time-delay sliding mode control law is constructed, with controller parameters chosen according to the upper bound of time-delay. In the control law, a geometric updating rule is designed for the virtual suspension point, which enables ASV at a particular small area with a weather optimal heading. And, weather optimal intermittent strategy is developed to extend the area-keeping control method, while reducing ASV energy consumption. Besides, the closed-loop system is globally asymptotically stable through Lyapunov-Krasovskii analysis. Finally, the performance of the proposed algorithm is illustrated through the simulation examples.

참고문헌 (35)

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