Journal
CONTROL ENGINEERING PRACTICE
Volume 85, Issue -, Pages 216-224Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2019.01.018
Keywords
Unmanned wave glider; Motion control; Heading control; Information fusion; Sea trial
Funding
- National Key R&D Program of China [2017YFC0305700]
- National Natural Science Foundation of China [51779052, 51879057, U1806228]
- Natural Science Foundation of Heilongjiang Province of China [QC2016062]
- Heilongjiang Postdoctoral Funds for Scientific Research Initiation [LBH-Q17046]
- Fundamental Research Funds for the Central Universities [HEUCFP201741, HEUCFG201810]
- Qingdao National Laboratory for Marine Science and Technology [QNLM2016ORP0406]
- Research Fund from Science and Technology on Underwater Vehicle Laboratory [6142215180102, 614221503091701]
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The unmanned wave glider (UWG) is a new kind of wave powered unmanned marine vehicle for persistent marine environment monitoring. However, the heading control of UWG is unusual, mainly about the heading control of the surface float body (Float), since it is indirectly actuated and with a large lag of the control response. The adaptive heading control method for the Float with heading information fusion is discussed. The basic and improved arrangement methods of the desired heading of Glider are proposed. Via direct heading control of Glider, the heading control of Float is realized indirectly. Simulation and sea trial results demonstrate that the proposed adaptive heading control method improves the heading control performance of UWG significantly.
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