Wave glider(WG) is a kind of rigid-flexible coupled marine unmanned aerial vehicle, and accurate heading control is the key to ensuring navigation safety. The complex marine environment in which the wave glider navigates, the nonlinearity of the maneuvering response model, and the difficulty of debugging the control system during navigation are the problems faced by heading control. To this end, an adaptive backstepping control strategy is proposed to improve the accuracy and robustness of heading control. Through numerical simulation, the performance of adaptive backstepping heading control for wave gliders is analyzed under the conditions of no interference and time-varying interference, and it is compared with the traditional PID control strategy. The results show that, with the adaptive inverse stepping control strategy, the heading holding accuracy of the wave glider can reach 0.03deg, and the fastest heading response time can reach 13s, which improves the accuracy by 24%, the response time by 73.34%, and the average absolute error by at least 11.4% compared with the traditional PID control. The simulation results demonstrate that the adaptive backstepping control law is simple to derive and has good tracking performance, response performance, and robustness in wave glider heading control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Backstepping Heading Control for Wave Glider


    Beteiligte:
    Li, Paixia (Autor:in) / Zhu, Liucun (Autor:in) / Tan, Wukang (Autor:in) / Zhu, Zeliang (Autor:in)


    Erscheinungsdatum :

    28.09.2024


    Format / Umfang :

    3457989 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    The Heading Control of POD-Driven Ship Using Adaptive Integrator Backstepping

    Zhao, Yacong / Huang, Haibin / Zhuang, Yufei | Springer Verlag | 2016


    Wave glider

    LI SHENGQUAN / YANG YULIANG / LU HAIBO et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Wave glider

    CHANG ZONGYU / FENG ZHANXIA / ZHENG ZHONGQIANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Remote-control separation wave glider

    MAKI KENICHI / HUANG HAOJUN / ZHU KUN et al. | Europäisches Patentamt | 2025

    Freier Zugriff

    Adaptive Backstepping Control

    Tewari, Ashish | Wiley | 2016