Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle
This paper considers the control of one unmanned semi-submersible vehicle (USV), named BQ-01, where the submersible depth cannot exceed a few meters in the presence of environmental disturbances. Consequently, the depth control performance measures and the rejection of disturbances, such as those du...
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doaj-d529a366ccfd4fcda2987f9524d265822021-03-29T23:58:55ZengIEEEIEEE Access2169-35362019-01-017942549426210.1109/ACCESS.2019.29251498746118Experimentally Verified Depth Control of an Unmanned Semi-Submersible VehicleHuanyin Zhou0https://orcid.org/0000-0003-2088-3309Kaizhou Liu1Hongli Xu2Xisheng Feng3School of Mechanical and Electronics Engineering, East China University of Technology, Nanchang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaThis paper considers the control of one unmanned semi-submersible vehicle (USV), named BQ-01, where the submersible depth cannot exceed a few meters in the presence of environmental disturbances. Consequently, the depth control performance measures and the rejection of disturbances, such as those due to sea waves, must be within pre-determined ranges to ensure maximum use of such vehicles. This paper develops a control scheme that combines the state feedback control and rule-based supervision for depth control, where the entries in the feedback control matrix are adjusted by rules formulated from the state errors in the USV diving plane. Surge speed also plays an important role in adjusting control parameters because of its coupled relationship with the state depth of the diving plane. The results from sea trials are given and confirm the potential of the design.https://ieeexplore.ieee.org/document/8746118/Depth control performancefeedback controlrule-based supervisionunmanned semi-submersible vehicle |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Huanyin Zhou Kaizhou Liu Hongli Xu Xisheng Feng |
spellingShingle |
Huanyin Zhou Kaizhou Liu Hongli Xu Xisheng Feng Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle IEEE Access Depth control performance feedback control rule-based supervision unmanned semi-submersible vehicle |
author_facet |
Huanyin Zhou Kaizhou Liu Hongli Xu Xisheng Feng |
author_sort |
Huanyin Zhou |
title |
Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle |
title_short |
Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle |
title_full |
Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle |
title_fullStr |
Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle |
title_full_unstemmed |
Experimentally Verified Depth Control of an Unmanned Semi-Submersible Vehicle |
title_sort |
experimentally verified depth control of an unmanned semi-submersible vehicle |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
This paper considers the control of one unmanned semi-submersible vehicle (USV), named BQ-01, where the submersible depth cannot exceed a few meters in the presence of environmental disturbances. Consequently, the depth control performance measures and the rejection of disturbances, such as those due to sea waves, must be within pre-determined ranges to ensure maximum use of such vehicles. This paper develops a control scheme that combines the state feedback control and rule-based supervision for depth control, where the entries in the feedback control matrix are adjusted by rules formulated from the state errors in the USV diving plane. Surge speed also plays an important role in adjusting control parameters because of its coupled relationship with the state depth of the diving plane. The results from sea trials are given and confirm the potential of the design. |
topic |
Depth control performance feedback control rule-based supervision unmanned semi-submersible vehicle |
url |
https://ieeexplore.ieee.org/document/8746118/ |
work_keys_str_mv |
AT huanyinzhou experimentallyverifieddepthcontrolofanunmannedsemisubmersiblevehicle AT kaizhouliu experimentallyverifieddepthcontrolofanunmannedsemisubmersiblevehicle AT honglixu experimentallyverifieddepthcontrolofanunmannedsemisubmersiblevehicle AT xishengfeng experimentallyverifieddepthcontrolofanunmannedsemisubmersiblevehicle |
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1724188815012134912 |