Advances in Computational Design

  • 제5권3호
  • /
  • Pages.233-260
  • /
  • 2020
  • /
  • 2383-8477(pISSN)
  • /
  • 2466-0523(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Advanced controller design for AUV based on adaptive dynamic programming

  • Chen, Tim (AI Lab, Faculty of Information Technology, Ton Duc Thang University) ;
  • Khurram, Safiullahand (Department of Computer Science, Kunduz University) ;
  • Zoungrana, Joelli (School of Intelligent Science, Colinas University of Boe) ;
  • Pandey, Lallit (Department of Soil Science, Patuakhali Science and Technology University) ;
  • Chen, J.C.Y. (Department of Soil Science, Patuakhali Science and Technology University)
  • 투고 : 2019.11.22
  • 심사 : 2019.02.08
  • 발행 : 2020.07.25
⟨ 이전 논문 다음 논문 ⟩

초록

The main purpose to introduce model based controller in proposed control technique is to provide better and fast learning of the floating dynamics by means of fuzzy logic controller and also cancelling effect of nonlinear terms of the system. An iterative adaptive dynamic programming algorithm is proposed to deal with the optimal trajectory-tracking control problems for autonomous underwater vehicle (AUV). The optimal tracking control problem is converted into an optimal regulation problem by system transformation. Then the optimal regulation problem is solved by the policy iteration adaptive dynamic programming algorithm. Finally, simulation example is given to show the performance of the iterative adaptive dynamic programming algorithm.

키워드

참고문헌

  1. Bedirhanoglu, I. (2014), "A practical neuro-fuzzy model for estimating modulus of elasticity of concrete", Struct. Eng. Mech., 51(2), 249-265. https://doi.org/10.12989/sem.2014.51.2.249
  2. Bhasin, S., Kamalapurkar, R., Johnson, M., Vamvoudakis, K. G., Lewis, F. L. and Dixon, W. E. (2013), "A novel actor-critic-identifier architecture for approximate optimal control of uncertain nonlinear systems", Automatica, 49(1), 82-92. https://doi.org/10.1016/j.automatica.2012.09.019.
  3. Chen, C.W. (2014a), "Interconnected TS fuzzy technique for nonlinear time-delay structural systems", Nonlinear Dynam., 76(1), 13-22. https://doi.org/10.1007/s11071-013-0841-8
  4. Chen, C.W. (2014b), "A criterion of robustness intelligent nonlinear control for multiple time-delay systems based on fuzzy Lyapunov methods", Nonlinear Dynam., 76(1), 23-31. https://doi.org/10.1007/s11071-013-0869-9
  5. Chen, T., Khurram, S. and Cheng, C. (2019), "A relaxed structural mechanics and fuzzy control for fluid-structure dynamic analysis", Eng. Comput., 36(7), 2200-2219.
  6. Chen, T., Khurram, S. and Cheng, C. (2019), "Prediction and control of buildings with sensor actuators of fuzzy EB algorithm", Earthq. Struct., 17(3), 307-315. https://doi.org/10.12989/eas.2019.17.3.307.
  7. Chen, T. (2020), "LMI based criterion for reinforced concrete frame structures", Adv. Concr. Constr., 9(4), 407-412. https://doi.org/10.12989/ACC.2020.9.4.407
  8. Chen, T. (2020), "Evolved fuzzy NN control for discrete-time nonlinear systems", J. Circuits Syst. Comput., 29(1), 2050015. https://doi.org/10.1142/s0218126620500152
  9. Chen, T. (2020), "On the algorithmic stability of optimal control with derivative operators", Circuits Syst. Signal Process., doi:10.1007/s00034-020- 01447-1.
  10. Chen, T. (2020), "An intelligent algorithm optimum for building design of fuzzy structures", Iran J. Sci. Technol, Trans Civ. Eng., 44, 523-531. https://doi.org/10.1007/s40996-019-00251-5
  11. Khodayari, M. H. and Balochian, S. (2015), "Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller", J. Marine Sci. Technol., 20(3), 559-578. https://doi.org/10.1007/s00773-015-0312-7.
  12. Lin, Q., Wei, Q. and Liu, D. (2017), "A novel optimal tracking control scheme for a class of discrete-time nonlinear systems using generalised policy iterative adaptive dynamic programming algorithm", Int. J. Syst. Sci., 48(3), 525-534. https://doi.org/10.1080/00207721.2016.1188177.
  13. Liu, D. and Wei, Q. (2014), "Data-driven neuro-optimal temperature control of water gas shift reaction using stable iterative adaptive dynamic programming", IEEE Trans. Ind. Electron., 61(11), 6399-6408. https://doi.org/10.1109/TIE.2014.2301770.
  14. Liu, D.,Wang, D.,Zhao, D.,Wei, Q. and Jin, N. (2012), "Neuralnetwork-based optimal control for a class of unknown discretetime nonlinear systems using globalized dual heuristic programming", IEEE Trans. Autom. Sci. Eng., 9(3), 628- 634. https://doi.org/10.1109/TASE.2012.2198057.
  15. Liu, G., Chen, G., Jiao, J. and Jiang, R. (2015), "Dynamics Modeling and Control Simulation of an Autonomous Underwater Vehicle", J. Coastal Res., 741-746. https://doi.org/10.2112/SI73-127.1.
  16. Mansour, K., Wu, H. and Hwang, C. (2017), "Nonlinear trajectorytracking control of an autonomous underwater vehicle", Ocean Eng., 145, 188-198. https://doi.org/10.1016/j.oceaneng.2017.08.025.
  17. Santhakumar, M., Asokan, T. (2013), "Power efficient dynamic station keeping control of a flat-fish type autonomous underwater vehicle through design modifications of thruster configuration", Ocean Eng., 58, 11-21. https://doi.org/10.1016/j.oceaneng.2012.09.017.
  18. Shariatmadar, H. and Razavi, H.M. (2014), "Seismic control response of structures using an ATMD with fuzzy logic controller and PSO method", Struct. Eng. Mech., 51(4), 547-564. https://doi.org/10.12989/sem.2014.51.4.547
  19. Shi, D., Mao, Z. (2017), "Multi-step control set-based nonlinear model predictive control with persistent disturbances", Asian J. Control, 21(3), 1-11. https://doi.org/10.1002/asjc.1786.
  20. Son, L., Bur, M., Rusli, M. and Adriyan, A. (2016), "Design of double dynamic vibration absorbers for reduction of two DOF vibration system", Struct. Eng. Mech., 57(1), 161-178. https://doi.org/10.12989/sem.2016.57.1.161
  21. Trinh, H. and Aldeen, M. (1995), "A comment on decentralized stabilization of large scale interconnected systems with delays", IEEE Trans., AC-40, 914-916
  22. Tsai, P.W., Hayat, T., Ahmad, B. and Chen, C.W. (2015), "Structural system simulation and control via NN based fuzzy model", Struct. Eng. Mech., 56(3), 385-407. https://doi.org/10.12989/sem.2015.56.3.385
  23. Wei, Q., Liu, D. and Yang, X. (2015), "Infinite horizon self-learning optimal control of nonaffine discrete-time nonlinear systems", IEEE Trans. Neural Netw. Learn. Syst., 26(4), 866-879. https://doi.org/10.1109/TNNLS.2015.2401334.
  24. Wei, Q., Liu, D., Shi, G. and Liu, Y. (2015), "Multibattery Optimal multi-battery coordination control for home energy management systems via distributed iterative adaptive dynamic programming", IEEE Trans. Ind. Electron., 42(7), 4203-4214. https://doi.org/10.1109/TIE.2014.2388198.
  25. Wei, Q., Song, R. and Yan, P. (2016), "Data-driven zero-sum neurooptimal control for a class of continuous-time unknown nonlinear systems with disturbance using ADP", IEEE Trans. Neural Netw. Learn. Syst., 27(2), 444-458. https://doi.org/10.1109/TNNLS.2015.2464080.
  26. Xiang, X., Lapierre, L. and Jouvencel, B. (2015), "Smooth transition of AUV motion control: From fully-actuated to under actuated configuration", Robot. Auton. Syst., 67, 14-22. https://doi.org/10.1016/j.robot.2014.09.024.
  27. Yao, H. and Yang, G. (2016), "Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane", Math. Probl. Eng., 2016, 1-9. https://doi.org/10.1155/2016/4650380.
  28. Yuh, J. (1990), "Modeling and control of underwater robotic vehicles", IEEE Trans. Syst. Man. Cybern., Syst., 20(6), 1475-1483. https://doi.org/10.1109/21.61218.
  29. Zandi, Y., Shariati, M., Marto, A., Wei, X., Karaca, Z., Dao, D., Toghroli, A., Hashemi, M.H., Sedghi, Y., Wakil, K. and Khorami, M. (2018), "Computational investigation of the comparative analysis of cylindrical barns subjected to earthquake", Steel Compos. Struct., Int. J., 28(4), 439-447. http://dx.doi.org/10.12989/scs.2018.28.4.439
  30. Zhang, H., Wei, Q. and Liu, D. (2011), "An iterative adaptive dynamic programming method for solving a class of nonlinear zero-sum differential games", Automatica, 47(1), 207-214. https://doi.org/10.1016/j.automatica.2010.10.033.
  31. Zhang, Y. (2015), "A fuzzy residual strength based fatigue life prediction method", Struct. Eng. Mech., 56(2), 201-221. https://doi.org/10.12989/sem.2015.56.2.201
  32. Zhou, X., Lin, Y. and Gu, M. (2015), "Optimization of multiple tuned mass dampers for large-span roof structures subjected to wind loads", Wind Struct., 20(3), 363-388. https://doi.org/10.12989/was.2015.20.3.363