Research on Roll Stabilizing Based on Energy Optimization for Autonomous Surface Vehicle

Author:

Wang Hongjian1ORCID,Wang Linlin12,Pan Lixin3

Affiliation:

1. College of Automation, Harbin Engineering University, Harbin 150001, China

2. College of Information, Inner Mongolia University of Technology, Hohhot 010051, China

3. Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190, China

Abstract

Considering the case of ASV (autonomous surface vehicle) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Control system design is based on GPC (general predictive control) theory and working principle of zero-speed fin stabilizer. Coupling horizontal motion model of ASV is decoupled, and an equivalent transfer function of roll motion is obtained and transformed into a discrete difference equation through inverse Laplace transformation and Euler approximation. Finally, predictive model of GPC, namely, the difference equation of roll motion, is given. GPC algorithm of ASV roll motion is derived from performance index based on roll stabilizing performance and energy consumption used for driving fin stabilizer. In allusion to time-variant parameters in roll motion model, recursive least square method is adopted for parameter estimation. Simulation results of ASV roll motion control show better stabilizing performance and minimized energy consumption improved by self-adaptive GPC.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

Applied Mathematics

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