Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders
This paper deals with the neural network identification-based model predictive heading control problem in a wave glider. First, based on a kinematic model of the wave glider subjected to external disturbance and system uncertainty, a state space model of the wave glider is established. Then, a neura...
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2279 |
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| author | Peng Jin Baolin Zhang Yun Zhang |
| author_facet | Peng Jin Baolin Zhang Yun Zhang |
| author_sort | Peng Jin |
| collection | DOAJ |
| description | This paper deals with the neural network identification-based model predictive heading control problem in a wave glider. First, based on a kinematic model of the wave glider subjected to external disturbance and system uncertainty, a state space model of the wave glider is established. Then, a neural network identification-based model predictive heading controller (NNI-MPHC) is designed for the wave glider. The heading controller mainly includes three components: a model predictive controller, a neural network-based model identifier, and a linear reduced-order extended state observer. Third, a design algorithm of the NNI-MPHC is presented. The algorithm is demonstrated through simulation, where the results show the following: (i) The designed NNI-MPHC is remarkably capable of guaranteeing the tracing effects of the wave glider. (ii) Comparing the NNI-MPHC and existing heading controllers, the former is better than the latter in terms of tracking accuracy and rapidity and robustness to model uncertainty and/or external disturbances. |
| format | Article |
| id | doaj-art-59d6bf28be3d4c5e8d726e666e47dee3 |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-59d6bf28be3d4c5e8d726e666e47dee32025-08-20T02:43:32ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011212227910.3390/jmse12122279Neural Network Identification-Based Model Predictive Heading Control for Wave GlidersPeng Jin0Baolin Zhang1Yun Zhang2College of Automation and Electronic Engineering, Qingdao University of Science & Technology, Qingdao 266061, ChinaCollege of Automation and Electronic Engineering, Qingdao University of Science & Technology, Qingdao 266061, ChinaCollege of Automation and Electronic Engineering, Qingdao University of Science & Technology, Qingdao 266061, ChinaThis paper deals with the neural network identification-based model predictive heading control problem in a wave glider. First, based on a kinematic model of the wave glider subjected to external disturbance and system uncertainty, a state space model of the wave glider is established. Then, a neural network identification-based model predictive heading controller (NNI-MPHC) is designed for the wave glider. The heading controller mainly includes three components: a model predictive controller, a neural network-based model identifier, and a linear reduced-order extended state observer. Third, a design algorithm of the NNI-MPHC is presented. The algorithm is demonstrated through simulation, where the results show the following: (i) The designed NNI-MPHC is remarkably capable of guaranteeing the tracing effects of the wave glider. (ii) Comparing the NNI-MPHC and existing heading controllers, the former is better than the latter in terms of tracking accuracy and rapidity and robustness to model uncertainty and/or external disturbances.https://www.mdpi.com/2077-1312/12/12/2279wave glidermodel predictive controlneural network identificationheading controlextended state observer |
| spellingShingle | Peng Jin Baolin Zhang Yun Zhang Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders Journal of Marine Science and Engineering wave glider model predictive control neural network identification heading control extended state observer |
| title | Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders |
| title_full | Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders |
| title_fullStr | Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders |
| title_full_unstemmed | Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders |
| title_short | Neural Network Identification-Based Model Predictive Heading Control for Wave Gliders |
| title_sort | neural network identification based model predictive heading control for wave gliders |
| topic | wave glider model predictive control neural network identification heading control extended state observer |
| url | https://www.mdpi.com/2077-1312/12/12/2279 |
| work_keys_str_mv | AT pengjin neuralnetworkidentificationbasedmodelpredictiveheadingcontrolforwavegliders AT baolinzhang neuralnetworkidentificationbasedmodelpredictiveheadingcontrolforwavegliders AT yunzhang neuralnetworkidentificationbasedmodelpredictiveheadingcontrolforwavegliders |