Design of a coordinated control system for marine vehicles
نویسندگان
چکیده
The field of control of marine vessels is seeing new advances in control algorithms, and new technologies introduced both in the field of sensors (MEMS, nano-), as well as the actuators. All these influences have made the prospect of using fleets of unmanned marine vehicles (surface and/or underwater) very attractive. In such a fleet, individual craft need to be equipped with a control system that guides them to behave in a coordinated manner and thereby elevate the mission performance indicators to new, previously unobtainable levels.
منابع مشابه
A MILP Model for Coordinated Charging of Electric Vehicles in Smart Unbalanced LV Distribution Networks Using Floating Charge Method
In this paper, a mixed-integer linear programming (MILP) model is proposed to solve the charging problem of electric vehicles (EVs) using floating charge method meaning that the EV, could be supplied by each of the three phases connected to a special bus. In other words, unlike a usual household load which is only supplied by a particular phase, in the floating charge method it is assumed that ...
متن کاملAn adaptive modified fuzzy-sliding mode longitudinal control design and simulation for vehicles equipped with ABS system
In order to improve the safety and longitudinal stability of a vehicle equipped with standard ABS system, this paper, analyzes the basic principles of vehicles stability and proposes a control strategy based on fuzzy adaptive control which will adjust PID gain parameters, using genetic algorithm. A linear three-degree-of-freedom (DOF) vehicle model was set up in Simulink and the stability test ...
متن کاملFormation Control of Underactuated Marine Vehicles with Communication Constraints
In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control laws for coordinated path following of marine vehicles with sparse communication networks. The topology of the communication network is captured in the framework of graph theor...
متن کاملControl System Design for a Surface Effect Ship by Linear-Quadratic Regulator Method
In this paper, the main goal is to reduce the heave motion between a surface effect ship (SES) and a wind turbine in order to safely transfer equipment and person to SES. For this purpose, an LQR control system is designed to damp the vertical motion of the surface effect ship in critical sea states including high-frequency and high amplitude regular waves as well as high frequency irregular wa...
متن کاملDesign of an Intelligent Controller for Station Keeping, Attitude Control, and Path Tracking of a Quadrotor Using Recursive Neural Networks
During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
متن کامل