Fuzzy robust path tracking strategy of an active pelagic trawl system with coordinated ship and winch regulation
来源期刊：中南大学学报(英文版)2014年第1期
论文作者：CHEN Ying-long(陈英龙) ZHOU Hua(周华) ZHAO Yong-gang(赵勇刚) HOU Jiao-yi(侯交义)
文章页码：167 - 179
Key words：active pelagic trawl system; robust H2/H∞ path tracking control; Takagi-Sugeno (T-S) nonlinear modeling; ship and winch regulation
Abstract: A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H2/H∞ controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H2/H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2/H∞ control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H2/H∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
CHEN Ying-long(陈英龙)1, ZHOU Hua(周华)1, ZHAO Yong-gang(赵勇刚)2, HOU Jiao-yi(侯交义)1
(1. State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University), Hangzhou 310027, China;
2. 707 Institute of China Shipbuilding Industry Corporation, Jiujiang 332007, China)
Abstract:A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H2/H∞ controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H2/H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2/H∞ control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H2/H∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
Key words:active pelagic trawl system; robust H2/H∞ path tracking control; Takagi-Sugeno (T-S) nonlinear modeling; ship and winch regulation
