 Название: Network-Based Control of Unmanned Marine Vehicles
Автор: Yu-Long Wang, Qing-Long Han, Chen Peng
Издательство: Springer
Год: 2023
Страниц: 212
Язык: английский
Формат: pdf (true), epub
Размер: 33.1 MB
This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples.
Networked Control Systems (NCSs) are spatially distributed systems in which the communication between sensors, controllers, and actuators occurs through shared band-limited communication networks. The flexibility in communication architectures, low cost in installation and maintenance, and high reliability make NCSs the future of industrial control systems. Network-based control systems have found a wide range of applications in areas including aircrafts, autonomous vehicles, transportation systems, Unmanned Marine Vehicles (UMVs), and power systems.
The development of UMVs is particularly significant in providing cost-effective solutions to coastal and offshore problems. UMVs are widely used in monitoring, oil and pollution clean-up, scientific characterization, exploration, and military operations such as mine sweeping and border surveillance. It should be mentioned that control for a UMV is usually based on a remote land-based or mother ship-based control station in network environments. The UMV’s states such as yaw velocity, roll angle, and heading angle are sampled and transmitted to the control station through the sampler-to-control station communication network channel, while control instructions are constructed and transmitted to the steering machine through the control station-to-actuator communication network channel.
Note that the insertion of communication networks into control systems will inevitably induce network delays and packet dropouts. On the other hand, the occurrence of sensor faults and/or actuator faults in NCSs and UMVs is usually unavoidable. Considering the wide range of applications of NCSs, it is of paramount importance to investigate the stability analysis, stabilization, and fault detection for NCSs. Moreover, how to propose appropriate motion control and fault detection schemes for UMVs in network environments is attractive and practically valuable.
Contents:
1. Introduction
2. Quantitative Analysis and Synthesis of NCSs
3. FDF Design for Data Reconstruction-Based NCSs
4. Output Feedback Control of NCSs Under a Stochastic Scheduling Protocol
5. Network-Based Heading Control of UMVs
6. FDF and Controller Coordinated Design for UMVs
7. T-S Fuzzy Dynamic Positioning Controller Design for UMVs
8. Network-Based Dynamic Output Feedback Control of UMVs
9. Cooperative Target Tracking of Multiple UMVs Under Switching Topologies
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