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Expression of Concern: The Intelligent Control System and Experiments for an Unmanned Wave Glider
- Source :
- PLoS ONE
- Publication Year :
- 2022
-
Abstract
- The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the “Ocean Rambler” UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified.
- Subjects :
- Computer and Information Sciences
Atmospheric Science
Intelligence
Social Sciences
Marine and Aquatic Sciences
Control Systems
Marine Biology
Wind
Systems Science
Computer Architecture
Meteorology
Marine Monitoring
Oceans
Psychology
Ecology and Environmental Sciences
Cognitive Psychology
Biology and Life Sciences
Aquatic Environments
Control Engineering
Bodies of Water
Computer Hardware
Marine Environments
Physical Sciences
Earth Sciences
Telecommunications
Engineering and Technology
Cognitive Science
Mathematics
Research Article
Neuroscience
Subjects
Details
- ISSN :
- 19326203
- Volume :
- 17
- Issue :
- 4
- Database :
- OpenAIRE
- Journal :
- PloS one
- Accession number :
- edsair.pmid..........2ed3980077e022d71cbfa3d54ddd37cc