A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2021-12-14 DOI:10.1017/S0373463321000667

Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang

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Abstract

Abstract This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme.

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无稳态振荡的滑模极值寻优控制在无人驾驶帆船速度优化中的应用

摘要提出了一种无稳态振荡滑模极值寻优控制(SMESC)的无人驾驶帆船航速优化方案。在航速优化方案中，首先通过前馈块中的分段常数函数计算初始迎角，保证航速与最大航速之间的偏差较小。其次，在反馈块中采用极值搜索控制(ESC)，使航速逐渐趋近于最大值;在无稳态振荡的SMESC中，设计切换律进行控制变换，使速度优化系统在第一个收敛阶段进行SMESC，在第二个稳定阶段进行无稳态振荡的ESC。该方案结合了两种控制算法的优点，既能保持较快的收敛速度，又能消除稳态振荡。进一步证明了速度优化系统的严格稳定性。最后，我们在仿真中测试了一艘无人帆船的12米数学模型，以验证该速度优化方案的有效性和鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.