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A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation.
- Source :
-
Journal of Navigation . May2022, Vol. 75 Issue 3, p745-762. 18p. - Publication Year :
- 2022
-
Abstract
- This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 03734633
- Volume :
- 75
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- Journal of Navigation
- Publication Type :
- Academic Journal
- Accession number :
- 158245001
- Full Text :
- https://doi.org/10.1017/S0373463321000667