Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang
{"title":"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","authors":"Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang","doi":"10.1017/S0373463321000667","DOIUrl":null,"url":null,"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.","PeriodicalId":50120,"journal":{"name":"Journal of Navigation","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation\",\"authors\":\"Zhipeng Shen, Xuechun Fan, Haomiao Yu, Chen Guo, Saisai Wang\",\"doi\":\"10.1017/S0373463321000667\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":50120,\"journal\":{\"name\":\"Journal of Navigation\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2021-12-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Navigation\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1017/S0373463321000667\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, MARINE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Navigation","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1017/S0373463321000667","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MARINE","Score":null,"Total":0}
A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation
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.
期刊介绍:
The Journal of Navigation contains original papers on the science of navigation by man and animals over land and sea and through air and space, including a selection of papers presented at meetings of the Institute and other organisations associated with navigation. Papers cover every aspect of navigation, from the highly technical to the descriptive and historical. Subjects include electronics, astronomy, mathematics, cartography, command and control, psychology and zoology, operational research, risk analysis, theoretical physics, operation in hostile environments, instrumentation, ergonomics, financial planning and law. The journal also publishes selected papers and reports from the Institute’s special interest groups. Contributions come from all parts of the world.