Shared control of ship autopilots and human pilots for maritime autonomous surface ship in the presence of actuator anomalies

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Minghao Ruan, Anqing Wang, Dan Wang
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引用次数: 0

Abstract

This paper investigates the heading control problem of maritime autonomous surface ships (MASSs) in the presence of actuator anomalies. A shared control framework that includes a ship autopilot and a human pilot, is constructed to realize the accurate tracking of the time-varying command signals. Specifically, the human pilot is responsible for high-level decision making such as anomaly estimation, anomaly correction and monitoring analysis, and the ship autopilot is responsible for a low-level task of command following. With the proposed shared control framework, the ability of the ship autopilot can be significantly enhanced compared to entirely automated tracking. Through Lyapunov stability analysis, it is proven that the tracking error is ultimately bounded, while all the signals of the closed-loop system remain bounded. Finally, a simulation example is presented to prove the effectiveness of the proposed shared control architecture for MASSs under actuator anomalies.
船舶自动驾驶仪与人类驾驶员在执行器异常情况下的共享控制
研究了执行器异常情况下海上自主水面舰艇(mass)的航向控制问题。为了实现对时变指令信号的精确跟踪,构建了由船舶自动驾驶仪和驾驶员组成的共享控制框架。具体来说,人类飞行员负责异常估计、异常纠正和监测分析等高层决策,船舶自动驾驶仪负责指挥跟随等低级任务。与完全自动跟踪相比,采用所提出的共享控制框架可以显著增强船舶自动驾驶仪的能力。通过Lyapunov稳定性分析,证明了跟踪误差最终是有界的,而闭环系统的所有信号都保持有界。最后,通过仿真实例验证了所提质量共享控制体系在执行器异常情况下的有效性。
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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