Earticle

초록

영어

In order to improve the stability of underactuated surface vessels (USV) coursekeeping, a fractional-order λ μ PI D controller based on self-adaptive weight particle swarm optimization (SAWPSO-FOCPID) was proposed for ship autopilot and had good overall control ability. The integral-order λ and differential-order μ can improve the controller with more robustness and take on stronger disturbance rejection ability. However, the difficulties for parameter verification are increased. A new designing method of PIλ Dμ controller based on SAWPSO algorithm was proposed in order to balance the global search ability and local search ability of PSO algorithm. And at the same time, the difficulties of tuning more parameters and designing complexity of fractional-order λ μ PI D controller were solved. The SAWPSO-FOCPID controller was compared with the traditional PSO-PID controller under the same condition. The simulation results showed that the SAWPSO-FOCPID controller has a high dynamic tracking performance, small overshoot and strong immunity.

목차

Abstract
 1. Introduction
 2. Mathematical Model of Underactuated Surface Vessels
  2.1. Maneuvering Mathematical Model
  2.2. Norrbin Nonlinear Model for Course Control
 3. Fractional Calculus and Fractional-Order Controllers
  3.1. Fractional Calculus Definition
  3.2. Fractional-Order PIλ Dμ Controller
  3.3. Improved Approximation Oustaloup of Fractional-Order Calculus
 4. The Design of Fractional-Order PIλ Dμ Controller Based On SAWPSO
  4.1. SAWPSO Tuning Fractional-Order Controller Parameters
  4.2. Sawpso Algorithm
  4.3. Objective Function Selection
 5. Simulations
 6. Conclusions
 Acknowledgements
 References

키워드

저자

• Guang-yu Li [ Information Science and Technology College of Dalian Maritime University, Dalian 116026, China, Software College of Dalian Jiaotong University, Dalian 116052, China ]
• Chen Guo [ Information Science and Technology College of Dalian Maritime University, Dalian 116026, China ]
• Yan-xin Li [ Software College of Dalian Jiaotong University, Dalian 116052, China ]
• Wu Deng [ Software College of Dalian Jiaotong University, Dalian 116052, China, Guangxi Key Laboratory of Hybrid Computation and IC Design Analysis, Guangxi University for Nationalities, Nanning 530006 China, The Provincial Key Laboratory for Computer Information Processing Technology, Soochow University, Suzhou 215006 ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605