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I.
INTRODUCTION
2
x cc sc cs s ss ccs
y c cc ss s cs s sc
z s
c s
c c
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0 u
0 v
0
0 w (1)
st ct p
c
s q
s / c c / c
r
0
0
as,
v r
(3)
M C() D() f
(4)
m Xu
M 0
0
mxG N
I z N r
0
m Y
mxG N
(5)
0
0
m( xG r ) Y N r
(6)
C ()
0
0
(m X u )u
m( x r ) Y N r ( X m)u
0
G
Xu Xu u u
D()
0
0
Y Y
N N
Yr Yr r r (7)
Nr Nr r r
(8)
zz r Nr r ( X u Yv )uv Nr r r r Nctrl (r
x cos sin 0 u
y sin cos 0 v
0
0
1
r
(2)
vr
ur
u
uv
v
u u
r
v v
r r
BB (r
(9)
3
C. LINEAR NOMOTO MODEL
Linearizing (8) about the steady motion corresponding
to the state variable values:
u u0 ; v 0; r 0
v
A Br
r
1
J ( xT Qx uT Ru )
20
v
r
(10)
(12)
K (1 T3 s)
r ( s)
( s) (1 T1s)(1 T2 s)
(11)
Ti (i=1,2,3) is derived by
0.365 (1/s)
T1
11.8 (s)
T2
7.8 (s)
T3
18.5 (s)
III.
HEADING CONTROL ALGORITHM DESIGN
The control is carried out based on the fuzzy model via the
so-called parallel distributed compensation scheme.
LQR is used to determine best values for parameters in
fuzzy control rules in which the robustness is inherent in the
LQR thereby robustness in fuzzy control can be improved.
With the aid of LQR, it provides an effective design method of
fuzzy control to ensure robustness.
The motivation behind this scheme is to combine the best
features of fuzzy control and LQR to achieve rapid and
accurate tracking control of a class of nonlinear systems.
The results obtained show a robust and stable behavior
when the system is subjected to various initial conditions,
moment of inertia and to disturbances.
A. Linear Quadratic Regulator Controller:
The modern control system design is based directly on the
state variable model, which contains more information about
the system. Another central concept is the expression of
performance specifications in terms of a mathematically
precise performance criterion that then yields matrix equations
for the control gains. The classical successive loop closure
approach means that the control gains are selected
individually. In contrast, solving matrix equations in modern
control allows all the control gains to be computed
simultaneously so that all the loops are closed at the same time
min[ F 1 ( x1 ),, Fn ( xn )]
F 1Fn x1 ,, xn
or
( x ) ( x )
F1
1
Fn
n
(13)
c
f X
N
j 1 j
N
j 1
(14)
4
output gains according to the actual performance, blending the
dynamic response that generating better performance than
using LQR alone.
A FUZZY-LQR is designed which meets the requirements
of small overshoot in the transient response and a well damped
oscillations with no steady state error Fig. 3 describes the
Fuzzy-LQR controller for yaw angle control. The system
dynamics is described by LQR design process for yaw control.
IV.
V.
CONCLUSIONS
In this paper we first derived the low speed
nonlinear planar model of a vessel. Since the vessels
nonlinearities and the variations in environmental
forces, the conventional controllers show poor
performance. We investigate a new procedure to
overcome this problem.
Linear Quadratic Regulator (LQR) is modern
linear control that is suitable for multivariable state
feedback and is known to yield good performance for
linear systems. The fuzzy control is known to have
the ability to deal with nonlinearities without having
to use advanced mathematics.
By blending these two controllers, a Fuzzy-LQR
controller for the Heading control of an USV has
been designed. The main idea is to design a
supervisory fuzzy controller capable to adjust the
closed loop controller feedback gains in order to
obtain the desired Heading (Yaw angle) under
variations of the USV parameters and environmental
variations. The motivation behind this scheme is to
VI.
REFERENCES
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127, 1997.
[2] T. W. Vaneck, Fuzzy guidance controller for an
autonomous boat, IEEE Control Syst. Mag., vol. 17,
no. 2, pp. 4351, Apr. 1997.
[3] R. Skjetne, T. I. Fossen, and P. V. Kokotovic,
Adaptive maneuvering with experiments for a
model ship in a marine control laboratory,
Automatica, vol. 41, no. 2, pp. 289298, 2005.
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Linear Ship Steering Dynamic Models, Journal of
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adaptive fuzzy sliding
mode controller, IEEE Trans. Indust. Electron. 8 (1)
(2001) 18U 31.
1024U 1030.
[6]Sugeno M, Yasukawa T. A fuzzy-logic-based
approach to qualitative modeling[J]. IEEE
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[7] Kevin, M, Passino and Yarkovich, S., FUZZY
CONTROL , Department of Electrical Engineering,
Ohio State University.
[8] Volker Bertram. Unmanned surface vehicles - a
survey.
[9] M. Breivik, V. E. Hovstein, and T. I. Fossen.
Straight-line target tracking for unmanned
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Press, 2005.
[11] T. I. Fossen. Guidance and Control of Ocean
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