A path planning control for a vessel dynamic positioning system based on robust adaptive fuzzy strategy

The thrusters and propulsion propellers systems, as well as the operating situations, are all well-known nonlinearities which are caused less accuracy of the dynamic positioning system (DPS) of vessels in the path planning control process. In this study, to enhance the robust performance of the DPS, we proposed a robust adaptive fuzzy control model to reduce the effect of uncertainty problems and disturbances on the DPS. Firstly, the adaptive fuzzy controller with adaptive law is designed to adjust the membership function of the fuzzy controller to minimize the error in path planning control of the vessel. Secondly, the H∞ performance of robust tracking is proved by the Lyapunov theory. Moreover, compared to the other controller, a simulation experiment comprising two case studies confirmed the efficiency of the approach. Finally, the results showed that the proposed controller reaches control quality, performance and stability

Boundary vibration control of a floating wind turbine system with mooring lines

In this paper, we investigate dynamic modeling, active boundary control design, and stability analysis for a coupled floating wind turbine (FWT) system, which is connected with two flexible mooring lines. It is a coupled beam-strings structure, and we design two boundary controllers to restrain the vibrations of this flexible system caused by external disturbances based on the coupled partial differential equations and ordinary differential equations (PDEs–ODEs) model. Meanwhile, significant performance of designed boundary controllers and system’s stability are theoretically analyzed, and a set of simulation results are provided to show efficacy of the proposed approach

Adaptive control of robotic manipulators with unified motion constraints

In this paper, we present an adaptive control of robotic manipulators with parametric uncertainties and motion constraints. Position and velocity constraints are considered and they are unified and converted into the constraint of the nominal input. An adaptive neural network control is developed to achieve trajectory tracking, while the problems of motion constraints are addressed by considering the saturation effect of the nominal input. The uniform boundedness of all closed-loop signals is verified through Lyapunov analysis. Simulation and experiment results on a 2 DOF robotic manipulator demonstrate the effectiveness of the proposed method

Mixed control for trajectory tracking in marine vessels

Este trabajo muestra la estrategia de control de un controlador basado en álgebra lineal para la cinemática y una técnica de control adaptable para la parte dinámica del buque. Que en el primer caso (LABC) es aplicado sobre la cinemática que recibe las referencias de posición deseadas y esto genera otro par de velocidad de referencia para el controlador adaptable (dinámico). El objetivo principal de esta técnica de control combinada (LABC-adaptable) se presenta en el caso de que la masa del buque (u otro parámetro) varíe con su trayectoria (por ejemplo, buque pesquero, buque de reabastecimiento de combustible, etc.) donde el controlador combinado con características adaptables ajusta sus parámetros mediante una ley de sintonía, que a su vez genera una acción de control que compensa las variaciones dinámicas del buque. Además, este trabajo presenta el análisis de estabilidad y la ley de ajuste LABC-adaptable basada en el criterio de estabilidad de Lyapunov. Los resultados obtenidos por simulación demuestran que el sistema marino puede seguir las señales de referencia con pequeños errores aún en presencia de incertidumbres.This work proposes the design of an adaptive controller for a marine vessel; the proposed control strategy applies a controller designed on linear algebra for the kinematics and an adaptive control technique for the dynamic part of the vessel. The linear algebra based controller (LABC) for kinematics receives the desired position references and this generates another reference velocity pair for the adaptive (dynamic) controller. The main goal of the application of the adaptive control technique in this kind of enforcement is presented in the case that the mass of the vessel varies with its trajectory (e.g. fishing vessel, refueling vessel, etc.) where the adaptive controller adjusts its parameters through of adaptation law, which in turn generates a control action that compensates dynamic variations of the ship. Besides, this work presents the stability analysis and adaptive adjustment law based on the Lyapunov theory. And the simulation results that are presented prove that the control can deal with nonlinearities and time-variant dynamics.Fil: Vacca Sisterna, Carlos Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Serrano, Mario Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte. Instituto de Investigación y Desarrollo en Ingeniería de Procesos, Biotecnología y Energías Alternativas. Universidad Nacional del Comahue. Instituto de Investigación y Desarrollo en Ingeniería de Procesos, Biotecnología y Energías Alternativas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Mixed control for trajectory tracking in marine vessels

[EN] This work proposes the design of an adaptive controller for a marine vessel; the proposed control strategy applies a controller designed on linear algebra for the kinematics and an adaptive control technique for the dynamic part of the vessel. The linear algebra based controller (LABC) for kinematics receives the desired position references and this generates another reference velocity pair for the adaptive (dynamic) controller. The main goal of the application of the adaptive control technique in this kind of enforcement is presented in the case that the mass of the vessel varies with its trajectory (e.g. fishing vessel, refueling vessel, etc.) where the adaptive controller adjusts its parameters through of adaptation law, which in turn generates a control action that compensates dynamic variations of the ship. Besides, this work presents the stability analysis and adaptive adjustment law based on the Lyapunov theory. And the simulation results that are presented prove that the control can deal with non-linearities and time-variant dynamics.[ES] Este trabajo muestra el diseño de un controlador adaptable para un buque marino; la estrategia de control que se propone es la aplicación de un controlador basado en álgebra lineal para la cinemática y una técnica de control adaptable para la parte dinámica del buque. El controlador basado en álgebra lineal (LABC) para cinemática recibe las referencias de posición deseadas y esto genera otro par de velocidad de referencia para el controlador adaptable (dinámico). El objetivo principal de la aplicación de la técnica de control adaptable se presenta en el caso de que la masa del buque varíe con su trayectoria (por ejemplo, buque pesquero, buque de reabastecimiento de combustible, etc.) donde el controlador adaptable ajusta sus parámetros mediante la ley de adaptación, que a su vez genera una acción de control que compensa las variaciones dinámicas del buque. Además, este trabajo presenta el análisis de estabilidad y la ley de ajuste adaptable basada en la teoría de Lyapunov. Los resultados de simulación muestran que el sistema puede seguir las señales de referencia con un error muy bajo aún en presencia de incertidumbre.Vacca Sisterna, C.; Serrano, E.; Scaglia, G.; Rossomando, F. (2021). Control mixto para el seguimiento de trayectoria en buques marinos. Revista Iberoamericana de Automática e Informática industrial. 19(1):27-36. https://doi.org/10.4995/riai.2021.15027OJS2736191Cui R, Chen L, Yang C, Chen M. "Extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities". IEEE Transactions on Industrial Electronics 2017; 64(8): 6785-6795. https://doi.org/10.1109/TIE.2017.2694410Dai SL, He S, Lin H. "Transverse function control with prescribed performance guarantees for underactuated marine surface vehicles". 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IEEE Transactions on Control Systems Technology 2006; 14(6): 1150-1157. https://doi.org/10.1109/TCST.2006.880220He W, Yin Z, Sun C. "Adaptive neural network control of a marine vessel with constraints using the asymmetric barrier Lyapunov function".IEEE transactions on cybernetics 2016; 47(7): 1641-1651. https://doi.org/10.1109/TCYB.2016.2554621Hu X, Du J, Zhu G, Sun Y. "Robust adaptive NN control of dynamically positioned vessels under input constraints". Neurocomputing 2018; 318: 201-212. https://doi.org/10.1016/j.neucom.2018.08.056Liao Yl, Wan L, Zhuang Jy. "Backstepping dynamical sliding mode control method for the path following of the underactuated surface vessel". Procedia Engineering 2011; 15: 256-263. https://doi.org/10.1016/j.proeng.2011.08.051Martins, F. N., Celeste, W. C., Carelli, R., Sarcinelli-Filho, M., & BastosFilho, T. F. (2008). An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Engineering Practice, 16(11), 1354-1363. https://doi.org/10.1016/j.conengprac.2008.03.004Nie J, Lin X. "Robust Nonlinear Path Following Control of UnderactuatedMSV With Time-Varying Sideslip Compensation in the Presence of Actuator Saturation and Error Constraint". IEEE Access 2018; 6: 71906-71917. https://doi.org/10.1109/ACCESS.2018.2881513Scaglia, Gustavo; Serrano, Emanuel; Albertos, Pedro (2020). Control de Trayectorias Basado en Algebra Lineal. Revista Iberoamericana de Automática e Informática industrial, [S.l.], ago. 2020. ISSN 1697-7920. Disponible en: https://polipapers.upv.es/index.php/RIAI/article/view/13584. https://doi.org/10.4995/riai.2020.13584Scaglia Gustavo, Serrano Mario Emanuel, Albertos Pedro (2020). "Linear Algebra Based Controller - Design and Applications". Publisher: Springer International Publishing. eBook ISBN 978-3-030-42818-1. Hardcover ISBN 978-3-030-42817-4. DOI 10.1007/978-3-030-42818-1.Scaglia, G., Mut, V., Rosales, A., Quintero, O., "Tracking Control of a Mobile Robot using Linear Interpolation", Proceeding of the 3rd International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2007. vol. 1, pp. 11-15, ISBN: 978-2-9520712-7-7 February 8-10, 2007Serrano M.E., Scaglia G.J.E., Auat Cheein F., Mut V. and Ortiz O.A. (2015).Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots. Robotica, 33, pp 2186-2203, diciembre 2015. https://doi.org/10.1017/S0263574714001325Serrano ME, Godoy SA, Gandolfo D, Mut V, Scaglia G. "Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties". Information Technology And Control 2018; 47(1): 118-130. https://doi.org/10.5755/j01.itc.47.1.17782Tee KP, Ge SS. "Control of fully actuated ocean surface vessels using a class of feedforward approximators". 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Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the mono- or twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV

Neural Network Based Central Heating System Load Prediction and Constrained Control

A neural network (NN) based heating system load prediction and control scheme are proposed. Different from traditional physical principle based load calculation method, a multilayer NN is incorporated with selected input features and trained to predict the heating load as well as the desired supply water temperature in heating supply loop. In this manner, a complicated load calculation model can be replaced by simple but efficient data-driven scheme and the response time to outdoor temperature variation can be enhanced. Moreover, in order to handle the input and output constraints in valve opening degree control task to achieve desired supply water temperature, Barrier Lyapunov candidate function and axillary system technique are involved. An additional NN is employed to approximate the system transfer function with reliable accuracy. The stability of the system is guaranteed through rigorous mathematical analysis. The excellent performance of the novelly proposed control over traditional PID is demonstrated via extensive simulation study. A quantitative case study is also conducted to verify the flexibility and validity of proposed load prediction strategy

A multirobot platform based on autonomous surface and underwater vehicles with bio-inspired neurocontrollers for long-term oil spills monitoring

This paper describes the BUSCAMOS-Oil monitoring system, which is a robotic platform consisting of an autonomous surface vessel combined with an underwater vehicle. The system has been designed for the long-term monitoring of oil spills, including the search for the spill, and transmitting information on its location, extent, direction and speed. Both vehicles are controlled by two different types of bio-inspired neural networks: a Self-Organization Direction Mapping Network for trajectory generation and a Neural Network for Avoidance Behaviour for avoiding obstacles. The systems’ resilient capabilities are provided by bio-inspired algorithms implemented in a modular software architecture and controlled by redundant devices to give the necessary robustness to operate in the difficult conditions typically found in long-term oil-spill operations. The efficacy of the vehicles’ adaptive navigation system and long-term mission capabilities are shown in the experimental results.This work was partially supported by the BUSCAMOS Project (ref. 1003211003700) under the program DN8644 COINCIDENTE of the Spanish Defense Ministry, the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia-19895/GERM/15)”, and the Spanish Government’s cDrone (ref. TIN2013-45920-R) and ViSelTR (ref. TIN2012-39279) projects