Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles
The pitch angle regulation in Remotely Operated Towed Vehicles (ROTVs) is essential to ensure the robustness of emitted signals within the maritime surveillance domain. Characterized by inherent nonlinear dynamics and stochastic uncertainties, the pitch angle model poses significant challenges to co...
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MDPI AG
2024-10-01
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| Series: | Journal of Marine Science and Engineering |
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| author | Cong Tian Hang Xu Songkai Ren Longchuan Guo Xiaoqing Tian Jiyong Wang |
| author_facet | Cong Tian Hang Xu Songkai Ren Longchuan Guo Xiaoqing Tian Jiyong Wang |
| author_sort | Cong Tian |
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| description | The pitch angle regulation in Remotely Operated Towed Vehicles (ROTVs) is essential to ensure the robustness of emitted signals within the maritime surveillance domain. Characterized by inherent nonlinear dynamics and stochastic uncertainties, the pitch angle model poses significant challenges to conventional tracking controls relying on linearization. This study introduces an adaptive pitch-control algorithm designed for ROTVs, which adeptly manages nonlinear dynamics as well as unmeasurable states through a synergistic integration of dynamic and static gains. A key feature of our approach is the incorporation of a high-order observer that adeptly estimates the system’s unmeasurable states, thereby enhancing control precision. Our proposed algorithm greatly exceeds traditional PID and fuzzy PID methods in both settling time and steady-state error, particularly in high-order nonlinear and unmeasurable state scenarios. Compared to sliding mode control, the proposed control strategy improved the settling time by 74% and the steady-state error was enhanced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>6</mn></mrow></msup></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>8</mn></mrow></msup></mrow></semantics></math></inline-formula>, as confirmed by numerical simulations. The efficacy of the algorithm in achieving the desired tracking trajectories highlights its potential for deep-water operations and fine-tuned attitude adjustments for ROTVs. |
| format | Article |
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| issn | 2077-1312 |
| language | English |
| publishDate | 2024-10-01 |
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| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-1dafb9f8f2d1447b9d6c22011900e93c2025-08-20T02:05:03ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-10-011211195310.3390/jmse12111953Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed VehiclesCong Tian0Hang Xu1Songkai Ren2Longchuan Guo3Xiaoqing Tian4Jiyong Wang5International Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaInternational Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaInternational Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaInternational Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaInternational Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaInternational Co-Operation Platform of Intelligent Ocean Equipments Technology of Zhejiang Province, Hangzhou Dianzi Univeristy, Hangzhou 310023, ChinaThe pitch angle regulation in Remotely Operated Towed Vehicles (ROTVs) is essential to ensure the robustness of emitted signals within the maritime surveillance domain. Characterized by inherent nonlinear dynamics and stochastic uncertainties, the pitch angle model poses significant challenges to conventional tracking controls relying on linearization. This study introduces an adaptive pitch-control algorithm designed for ROTVs, which adeptly manages nonlinear dynamics as well as unmeasurable states through a synergistic integration of dynamic and static gains. A key feature of our approach is the incorporation of a high-order observer that adeptly estimates the system’s unmeasurable states, thereby enhancing control precision. Our proposed algorithm greatly exceeds traditional PID and fuzzy PID methods in both settling time and steady-state error, particularly in high-order nonlinear and unmeasurable state scenarios. Compared to sliding mode control, the proposed control strategy improved the settling time by 74% and the steady-state error was enhanced from <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>6</mn></mrow></msup></mrow></semantics></math></inline-formula> to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>8</mn></mrow></msup></mrow></semantics></math></inline-formula>, as confirmed by numerical simulations. The efficacy of the algorithm in achieving the desired tracking trajectories highlights its potential for deep-water operations and fine-tuned attitude adjustments for ROTVs.https://www.mdpi.com/2077-1312/12/11/1953remotely operated towed vehiclenonlinearunmeasurable state adaptive controlpitch controldynamic and static gains |
| spellingShingle | Cong Tian Hang Xu Songkai Ren Longchuan Guo Xiaoqing Tian Jiyong Wang Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles Journal of Marine Science and Engineering remotely operated towed vehicle nonlinear unmeasurable state adaptive control pitch control dynamic and static gains |
| title | Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles |
| title_full | Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles |
| title_fullStr | Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles |
| title_full_unstemmed | Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles |
| title_short | Adaptive Pitch-Tracking Control with Dynamic and Static Gains for Remotely Operated Towed Vehicles |
| title_sort | adaptive pitch tracking control with dynamic and static gains for remotely operated towed vehicles |
| topic | remotely operated towed vehicle nonlinear unmeasurable state adaptive control pitch control dynamic and static gains |
| url | https://www.mdpi.com/2077-1312/12/11/1953 |
| work_keys_str_mv | AT congtian adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles AT hangxu adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles AT songkairen adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles AT longchuanguo adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles AT xiaoqingtian adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles AT jiyongwang adaptivepitchtrackingcontrolwithdynamicandstaticgainsforremotelyoperatedtowedvehicles |