摘要
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H2/H~ controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H2/H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2/H∞ control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H2/H∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
基金
Project(2009AA045004)supported by the Hi-tech Research and Development Program of China
关键词
模糊模型
活动路径
跟踪策略
系统
拖网
远洋
非线性数学模型
监管
active pelagic trawl system
robust H21H∞ path tracking control
Takagi-Sugeno (T-S) nonlinear modeling
ship andwinch regulation