中南大学学报(英文版)
中南大學學報(英文版)
중남대학학보(영문판)
JOURNAL OF CENTRAL SOUTH UNIVERSITY OF TECHNOLOGY(ENGLISH EDITION)
2014年
1期
167-179
,共13页
陈英龙%周华%赵勇刚%侯交义
陳英龍%週華%趙勇剛%侯交義
진영룡%주화%조용강%후교의
active pelagic trawl system%robust H2/H∞ path tracking control%Takagi-Sugeno (T-S) nonlinear modeling%ship and winch regulation
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H2/H∞controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H2/H∞controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2/H∞control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H2/H∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.