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 f...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.展开更多
Trawl is a main fishing gear in Chinese fishery,capturing large fish and letting small ones at large.However,long-term use of trawl would result in changes of phenotypic traits of the fish stocks,such as smaller size-...Trawl is a main fishing gear in Chinese fishery,capturing large fish and letting small ones at large.However,long-term use of trawl would result in changes of phenotypic traits of the fish stocks,such as smaller size-at-age and earlier age-at-maturation.In this study,we simulated a fish population with size characteristics of trawl fishing and the population produces one generation of offspring and lives for one year,used trawl to exploit the simulated fish population,and captured individuals by body size.We evaluated the impact of the changes on selectivity parameters,such as selective range and the length at 50% retention.Under fishing pressure,we specified the selectivity parameters,and determined that smaller selection rates and greater length at 50% retention were associated with an increased tendency towards miniaturization.展开更多
基金Project(2009AA045004)supported by the Hi-tech Research and Development Program of China
文摘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Supported by the Special Fund for Agro-scientific Research in the Public Interest of China(No.201203018)the National Key Technology Research and Development Program of China(No.2006BAD09A05)
文摘Trawl is a main fishing gear in Chinese fishery,capturing large fish and letting small ones at large.However,long-term use of trawl would result in changes of phenotypic traits of the fish stocks,such as smaller size-at-age and earlier age-at-maturation.In this study,we simulated a fish population with size characteristics of trawl fishing and the population produces one generation of offspring and lives for one year,used trawl to exploit the simulated fish population,and captured individuals by body size.We evaluated the impact of the changes on selectivity parameters,such as selective range and the length at 50% retention.Under fishing pressure,we specified the selectivity parameters,and determined that smaller selection rates and greater length at 50% retention were associated with an increased tendency towards miniaturization.
