A Systematic Robust Control Method for Marine Surface Vehicles

A new type of path-following method has been developed to steer marine surface vehicles along desired paths. Path-following is achieved by a new hyperbolic guidance law for straight-line paths and a backstepping control law for curved paths. An optimal controller has been improved for heading control, based on linear quadratic regulator (LQR) theory with nonlinear feedback control techniques. The control algorithm performance is validated by simulation and comparison against the requirements of International Standard IEC62065. Deviations are within the allowable range of the standard. In addition, the experimental results show that the proposed method has higher control accuracy.

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Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/09596518jsce734 ◽

2009 ◽

Vol 223 (6) ◽

pp. 785-795 ◽

Cited By ~ 16

Author(s):

D W Qian ◽

X J Liu ◽

J Q Yi

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Underactuated Systems ◽

Sliding Surface ◽

Nominal System ◽

Sliding Surfaces ◽

Mode Control ◽

Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

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Robust Control Method Based on Machine Learning for Boiler Combustion System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.685.368 ◽

2014 ◽

Vol 685 ◽

pp. 368-372 ◽

Cited By ~ 1

Author(s):

Hao Zhang ◽

Ya Jie Zhang ◽

Yan Gu Zhang

Keyword(s):

Robust Control ◽

Intelligent Control ◽

Pid Control ◽

Control Algorithm ◽

Control Method ◽

Support Vector ◽

Control Performance ◽

Fuzzy Pid Control ◽

On Line ◽

Control Output

In this study, we presented a boiler combustion robust control method under load changes based on the least squares support vector machine, PID parameters are on-line adjusted and identified by LSSVM, optimum control output is obtained. The simulation result shows control performance of the intelligent control algorithm is superior to traditional control algorithm and fuzzy PID control algorithm, the study provides a new control method for strong non-linear boiler combustion control system.

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Robust Control for Urban Living Water System with Seasonal Volatility

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.295-298.1927 ◽

2013 ◽

Vol 295-298 ◽

pp. 1927-1930

Author(s):

Ke Bai Li

Keyword(s):

Water Management ◽

Robust Control ◽

Control Method ◽

Supply And Demand ◽

Water System ◽

Management Model ◽

State Variables ◽

Urban Living ◽

Target Value ◽

Seasonal Volatility

Established urban living water management model. With capital and labor as state variables, using the pole assignment robust control method, realize the urban living water system supply and demand balance tending to target value.

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Secure and Privacy-Preserving Formation Control for Networked Marine Surface Vehicles with Sampled-Data Interactions

IEEE Transactions on Vehicular Technology ◽

10.1109/tvt.2021.3133902 ◽

2021 ◽

pp. 1-1

Author(s):

Chang-Duo Liang ◽

Ming-Feng Ge ◽

Jing-Zhe Xu ◽

Zhi-Wei Liu ◽

Feng Liu

Keyword(s):

Formation Control ◽

Privacy Preserving ◽

Sampled Data ◽

Marine Surface Vehicles ◽

Marine Surface

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Robust control method for bionic gait of machine legs based on time delay feedback

MATEC Web of Conferences ◽

10.1051/matecconf/201817302009 ◽

2018 ◽

Vol 173 ◽

pp. 02009

Author(s):

Lu Xing-Hua ◽

Huang Peng-Fen ◽

Huang Wei-Peng

Keyword(s):

Time Delay ◽

Robust Control ◽

Control Method ◽

Fuzzy Controller ◽

Delayed Feedback Control ◽

Accurate Estimation ◽

Gait Control ◽

Robot Leg ◽

Correlation Parameters ◽

Robotic Leg

The bionic machine leg is disturbed by the joint during the walking process, which is easy to produce time delay, which causes the robustness of the control of the machine leg is not good. In order to improve the robustness of the bionic gait control of the machine leg, a robust control method for the bionic gait of the machine leg based on time - delay feedback is proposed. The gait correlation parameters of robot leg are collected by sensor array, and the dynamic model of bionic gait is constructed. The fuzzy controller of bionic gait of robot leg is constructed by using time-delay coupling control method. The delayed feedback control error compensation method of machine leg correction is taken to improve the steady control performance of the robotic leg, reduce the steady-state error, improve the robustness of the control machine leg. The simulation results show that this method is robust to the bionic gait control of the machine leg. The output error of the gait parameter can quickly converge to zero, and the accurate estimation of the attitude parameter is stronger.

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