Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the headi...Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.展开更多
The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®...The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®erent trajectories tracking under di®erent conditions,a new dual-layer controller is designed in this paper.The integral backstepping sliding mode controller(IBSMC)is applied to the outer-loop controller and backstepping controller(BC)is applied to the innerloop controller.To improve the performance of the system,an improved pigeon-inspired optimization(PIO)algorithm called group coevolution and immigration pigeon-inspired optimization(GCIPIO)algorithm is proposed to optimize the controller parameters of IBSMC.GCIPIO algorithm utilizes the group coevolution and immigration mechanisms.A series of simulations are conducted to show the advantage of the proposed method.The results illustrate that the proposed method ensures the closed-loop system has less end-e®ector tracking error.展开更多
文摘Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.
基金the Science and Technology Innovation 2030-Key Project of\New Generation Articial Intelligence"under grant#2018AAA0102403National Natural Science Foundation of China under grant#U20B2071,#91948204,#T2121003,#U1913602 and#U19B2033.
文摘The aerial manipulator expands the scope of unmanned aerial vehicle(UAV)'s application as well as increases the di±culties in the design of the controller.To better control the aerial manipulator for di®erent trajectories tracking under di®erent conditions,a new dual-layer controller is designed in this paper.The integral backstepping sliding mode controller(IBSMC)is applied to the outer-loop controller and backstepping controller(BC)is applied to the innerloop controller.To improve the performance of the system,an improved pigeon-inspired optimization(PIO)algorithm called group coevolution and immigration pigeon-inspired optimization(GCIPIO)algorithm is proposed to optimize the controller parameters of IBSMC.GCIPIO algorithm utilizes the group coevolution and immigration mechanisms.A series of simulations are conducted to show the advantage of the proposed method.The results illustrate that the proposed method ensures the closed-loop system has less end-e®ector tracking error.
