Expression of Concern: The Intelligent Control System and Experiments for an Unmanned Wave Glider

Rok vydání:	2022
Předmět:	Computer and Information Sciences Atmospheric Science Intelligence Social Sciences Marine and Aquatic Sciences Control Systems Marine Biology Wind Systems Science Computer Architecture Meteorology Marine Monitoring Oceans Psychology Ecology and Environmental Sciences Cognitive Psychology Biology and Life Sciences Aquatic Environments Control Engineering Bodies of Water Computer Hardware Marine Environments Physical Sciences Earth Sciences Telecommunications Engineering and Technology Cognitive Science Mathematics Research Article Neuroscience
Zdroj:	PLoS ONE
ISSN:	1932-6203
Popis:	The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the “Ocean Rambler” UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=pmid________::2ed3980077e022d71cbfa3d54ddd37cc https://pubmed.ncbi.nlm.nih.gov/28005956 Zobrazit plný text záznamu Plný text ve formátu PDF Plný text ve formátu HTML
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