An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System
An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently...
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| Format: | Article |
| Language: | English |
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Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/1358412 |
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| _version_ | 1850232838381633536 |
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| author | Zhao Yan Yun sheng Mao Cheng gang Liu |
| author_facet | Zhao Yan Yun sheng Mao Cheng gang Liu |
| author_sort | Zhao Yan |
| collection | DOAJ |
| description | An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system. |
| format | Article |
| id | doaj-art-04b3e80cbdfb406ab08bd0c81572fb64 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-04b3e80cbdfb406ab08bd0c81572fb642025-08-20T02:03:05ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/13584121358412An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl SystemZhao Yan0Yun sheng Mao1Cheng gang Liu2Key Laboratory of High Performance Ship Technology (Wuhan University of Technology), Ministry of Education, Wuhan, ChinaWuhan University of Technology, Wuhan, ChinaChina Ship Development and Design Center, Wuhan, ChinaAn improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.http://dx.doi.org/10.1155/2016/1358412 |
| spellingShingle | Zhao Yan Yun sheng Mao Cheng gang Liu An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System Journal of Control Science and Engineering |
| title | An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System |
| title_full | An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System |
| title_fullStr | An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System |
| title_full_unstemmed | An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System |
| title_short | An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System |
| title_sort | improved backstepping based controller for three dimensional trajectory tracking of a midwater trawl system |
| url | http://dx.doi.org/10.1155/2016/1358412 |
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