Heading control method and experiments for an unmanned wave glider
The control system designing of unmanned wave glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the “Ocean Rambler” UWG is studied in this work. A heading...
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| Published in | Journal of Central South University Vol. 24; no. 11; pp. 2504 - 2512 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Changsha
Central South University
01.11.2017
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2095-2899 2227-5223 |
| DOI | 10.1007/s11771-017-3663-x |
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| Abstract | The control system designing of unmanned wave glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the “Ocean Rambler” UWG is studied in this work. A heading control method based on S-surface controller is designed. For the “rudder zero drift” problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified. |
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| AbstractList | The control system designing of unmanned wave glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the “Ocean Rambler” UWG is studied in this work. A heading control method based on S-surface controller is designed. For the “rudder zero drift” problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified. |
| Author | Li, Yi-ming Jiang, Quan-quan Li, Ye Wang, Lei-feng Liao, Yu-lei |
| Author_xml | – sequence: 1 givenname: Yu-lei surname: Liao fullname: Liao, Yu-lei email: liaoyulei@hrbeu.edu.cn organization: Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University – sequence: 2 givenname: Yi-ming surname: Li fullname: Li, Yi-ming organization: Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University – sequence: 3 givenname: Lei-feng surname: Wang fullname: Wang, Lei-feng organization: Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University – sequence: 4 givenname: Ye surname: Li fullname: Li, Ye organization: Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University – sequence: 5 givenname: Quan-quan surname: Jiang fullname: Jiang, Quan-quan organization: Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University |
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| CitedBy_id | crossref_primary_10_1016_j_oceaneng_2020_108391 crossref_primary_10_1016_j_oceaneng_2023_115895 crossref_primary_10_1016_j_oceaneng_2021_110167 crossref_primary_10_1016_j_apor_2020_102369 crossref_primary_10_3390_jmse7040104 crossref_primary_10_1007_s11771_018_3902_9 crossref_primary_10_1016_j_apor_2018_08_015 crossref_primary_10_1016_j_conengprac_2019_01_018 crossref_primary_10_1109_TIE_2018_2884237 crossref_primary_10_1016_j_seta_2022_102710 crossref_primary_10_1016_j_oceaneng_2019_03_047 crossref_primary_10_1016_j_apor_2020_102450 crossref_primary_10_1007_s11071_021_06964_5 crossref_primary_10_1016_j_apor_2021_102640 crossref_primary_10_1016_j_oceaneng_2021_109942 crossref_primary_10_1016_j_apm_2019_10_046 crossref_primary_10_1109_JOE_2019_2896397 crossref_primary_10_1016_j_ijmecsci_2023_108543 crossref_primary_10_3390_jmse9111221 crossref_primary_10_3390_jmse8010013 crossref_primary_10_1109_ACCESS_2019_2925466 |
| Cites_doi | 10.1016/j.rser.2011.12.016 10.1109/IROS.2008.4650890 10.1109/MIM.2010.5669607 |
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| References | Kraus (CR11) 2012 Lu (CR14) 2015 Bibuli, Bruzzone, Caccia (CR5) 2008 Wang, Shang, Luo, Tang, Zhang, Li (CR1) 2012; 16 Wang, Li, Gu (CR3) 2008; 32 Shi, Gong, Qi, Jia, Zhang, Qing (CR13) 2014; 33 Meyer-Gutbrod, Greene, Packer, Dorn (CR7) 2012 Liu, Xu (CR15) 2001; 19 Gan, Wang, Liu, Xu (CR17) 2004; 26 Zhang, Shi, Zhang, Jia, Qin, Qi, Yang, Sun (CR12) 2014; 33 Xu, Chen, Zheng (CR10) 2014; 33 Liao, Wan, Zhuang (CR18) 2012; 22 Crimmins, Patty, Beliard, Baker, Jalbert, Komerska, Chappell, Blidberg (CR2) 2006 Manley (CR4) 2008 Manley, Willcox (CR6) 2010; 13 Liu, Yu, Xu (CR16) 2002; 23 Francois, Gilles, Ryan (CR8) 2013; 40 Kathryn, Wang, Lind, Yamaguchi, Kalogiros (CR9) 2015 E Meyer-Gutbrod (3663_CR7) 2012 M Bibuli (3663_CR5) 2008 J E Manley (3663_CR4) 2008 D M Crimmins (3663_CR2) 2006 H Kathryn (3663_CR9) 2015 C-y Xu (3663_CR10) 2014; 33 J Shi (3663_CR13) 2014; 33 J-c Liu (3663_CR16) 2002; 23 S Zhang (3663_CR12) 2014; 33 J Manley (3663_CR6) 2010; 13 Xu Lu (3663_CR14) 2015 X-m Liu (3663_CR15) 2001; 19 X Wang (3663_CR3) 2008; 32 Y Gan (3663_CR17) 2004; 26 G Francois (3663_CR8) 2013; 40 X-m Wang (3663_CR1) 2012; 16 Y-l Liao (3663_CR18) 2012; 22 N D Kraus (3663_CR11) 2012 |
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| Title | Heading control method and experiments for an unmanned wave glider |
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