The Open Cybernetics & Systemics Journal




(Discontinued)

ISSN: 1874-110X ― Volume 12, 2018

A Parallel Hybrid Controller based on the Backstepping Method and S-plane Control for Three-dimensional Tracking of a Semi-pelagic Trawl System



Zhao Yan*, 1, Yunsheng Mao2, Shaohong Li2
1 Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan, Hubei Province, 430063, China
2 Wuhan University of Technology, Wuhan, Hubei Province, 430063, China

Abstract

Aiming at improving the security of a semi-pelagic trawl in a complex working environment, this paper proposes a three-dimensional tracking control system for the guidance of a semi-pelagic trawl on a complicated trajectory. The flexible nonlinear trawl system is simplified as a mass-spring-bar model. A hierarchical backstepping controller is then designed for the trajectory tracking of the trawl net and two otter boards. However, high-order state variables caused by the non-strict feedback characteristic of the trawl system appear frequently in recursive processes. Hence, a control algorithm based on the Sigmoid function is applied to construct the control outputs of these high-order variables. The stability of the proposed hybrid control method is analyzed based on the Lyapunov theorem when interference with an unknown upper limit occurs. Finally, simulation and contrast examinations show that the control algorithm is effective.

Keywords: Backstepping method, Lyapunov function, S(Sigmoid)plane control, Semi-pelagic trawl, Sigmoid function, Three-dimensional tracking.


Article Information


Identifiers and Pagination:

Year: 2016
Volume: 10
First Page: 180
Last Page: 191
Publisher Id: TOCSJ-10-180
DOI: 10.2174/1874110X01610010180

Article History:

Received Date: 18/3/2016
Revision Received Date: 9/07/2016
Acceptance Date: 21/08/2016
Electronic publication date: 14/10/2016
Collection year: 2016

© Yan et al.; Licensee Bentham Open

open-access license: This is an open access article licensed under the terms of the Creative Commons Attribution-Non-Commercial 4.0 International Public License (CC BY-NC 4.0) (https://creativecommons.org/licenses/by-nc/4.0/legalcode), which permits unrestricted, non-commercial use, distribution and reproduction in any medium, provided the work is properly cited.


* Address correspondence to this author at the Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan, Hubei Province, 430063, China; Tel: 15827533198; E-mail: yanzhao19890907@163.com



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