Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders
Uncrewed Wave Gliders (UWGs) are capable of harnessing energy from ocean waves and photovoltaic sources to enable long-duration voyages. Since the float’s yaw motion relies on the rudder of the submersible for control, this introduces many unknown nonlinear and time-delay factors into the control sy...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/12/2282 |
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| _version_ | 1846104157100965888 |
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| author | Jian Shi Jiangning Xu Tianyu Wei Yulei Liao Kaiwen Pan Min Jiang Xiao Wu |
| author_facet | Jian Shi Jiangning Xu Tianyu Wei Yulei Liao Kaiwen Pan Min Jiang Xiao Wu |
| author_sort | Jian Shi |
| collection | DOAJ |
| description | Uncrewed Wave Gliders (UWGs) are capable of harnessing energy from ocean waves and photovoltaic sources to enable long-duration voyages. Since the float’s yaw motion relies on the rudder of the submersible for control, this introduces many unknown nonlinear and time-delay factors into the control system. Moreover, the susceptibility of UWGs to waves influences results in limited maneuverability and necessitates energy efficiency considerations, complicating the task of following a designated path to a specific point for observations. To address these challenges, this paper first introduces a differential model-free adaptive control (DMFAC) approach for managing the float’s heading control, along with a proof of its stability. Furthermore, an improved attractive force line-of-sight (IAFLOS) guidance strategy for overall mooring control is proposed. The integration of the DMFAC heading controller and the IAFLOS strategy forms a comprehensive mooring control system, which is validated through simulation studies in typical maritime conditions. This control system ensures that, while considering energy conservation strategies, the distance between the wave glider and the mooring point remains within 20 m during mooring. |
| format | Article |
| id | doaj-art-94d9d95dc59b4c64b54bfcb726a2a842 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-94d9d95dc59b4c64b54bfcb726a2a8422024-12-27T14:33:29ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-12-011212228210.3390/jmse12122282Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave GlidersJian Shi0Jiangning Xu1Tianyu Wei2Yulei Liao3Kaiwen Pan4Min Jiang5Xiao Wu6Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, ChinaDepartment of Navigation Engineering, Naval University of Engineering, Wuhan 430000, ChinaNational Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, ChinaNational Ocean Technology Center, Tianjin 300112, ChinaNational Ocean Technology Center, Tianjin 300112, ChinaUncrewed Wave Gliders (UWGs) are capable of harnessing energy from ocean waves and photovoltaic sources to enable long-duration voyages. Since the float’s yaw motion relies on the rudder of the submersible for control, this introduces many unknown nonlinear and time-delay factors into the control system. Moreover, the susceptibility of UWGs to waves influences results in limited maneuverability and necessitates energy efficiency considerations, complicating the task of following a designated path to a specific point for observations. To address these challenges, this paper first introduces a differential model-free adaptive control (DMFAC) approach for managing the float’s heading control, along with a proof of its stability. Furthermore, an improved attractive force line-of-sight (IAFLOS) guidance strategy for overall mooring control is proposed. The integration of the DMFAC heading controller and the IAFLOS strategy forms a comprehensive mooring control system, which is validated through simulation studies in typical maritime conditions. This control system ensures that, while considering energy conservation strategies, the distance between the wave glider and the mooring point remains within 20 m during mooring.https://www.mdpi.com/2077-1312/12/12/2282uncrewed wave glidersdifferential model-free adaptive controlmooring controlfloat heading control |
| spellingShingle | Jian Shi Jiangning Xu Tianyu Wei Yulei Liao Kaiwen Pan Min Jiang Xiao Wu Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders Journal of Marine Science and Engineering uncrewed wave gliders differential model-free adaptive control mooring control float heading control |
| title | Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders |
| title_full | Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders |
| title_fullStr | Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders |
| title_full_unstemmed | Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders |
| title_short | Research on the Differential Model-Free Adaptive Mooring Control Method for Uncrewed Wave Gliders |
| title_sort | research on the differential model free adaptive mooring control method for uncrewed wave gliders |
| topic | uncrewed wave gliders differential model-free adaptive control mooring control float heading control |
| url | https://www.mdpi.com/2077-1312/12/12/2282 |
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