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The Intelligent Control System and Experiments for an Unmanned Wave Glider
Yulei Liao1, Leifeng Wang1, Yiming Li1
1Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China.
Plos One
|December 23, 2016
Summary
This study presents an intelligent control system for Unmanned Wave Gliders (UWGs) to enhance autonomous marine monitoring. The developed system improves path following and heading control, ensuring reliable long-term operation in challenging ocean conditions.
Area of Science:
- Marine robotics
- Autonomous systems engineering
- Control theory
Background:
- Designing control systems for Unmanned Wave Gliders (UWGs) is complex due to their limited maneuverability, significant time-lag, and susceptibility to disturbances, making accurate mathematical modeling difficult.
- Autonomous marine environment monitoring over extended periods and large areas necessitates high levels of intelligence and reliability in UWGs.
Purpose of the Study:
- To design and verify an intelligent control system for the "Ocean Rambler" Unmanned Wave Glider (UWG).
- To enhance the autonomous capabilities of UWGs for reliable, long-term marine environment monitoring.
Main Methods:
- An intelligent control system architecture was developed using cerebrum basic function combination zone theory and hierarchic control.
- An embedded motion control system was designed, featuring a four-layer rational behavior model.
- A self-adapting PID guidance law combined with the line-of-sight (LOS) method was implemented for path following.
- An improved S-surface heading controller was developed to address heading control challenges in a high-disturbance environment.
Main Results:
- The proposed control system, guidance law, and controller demonstrated favorable control performance in simulations and sea trials.
- The Unmanned Wave Glider successfully completed autonomous path following and marine environment monitoring tasks.
- The feasibility and reliability of the intelligent control system for UWGs were verified.
Conclusions:
- The developed intelligent control system significantly enhances the performance and reliability of Unmanned Wave Gliders for autonomous marine applications.
- The proposed control strategies effectively compensate for environmental disturbances, enabling robust path following and heading control.
- This research validates the practical application of advanced intelligent control techniques in marine robotics.
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