Research of Multi-path Point Tracking Control Method of Submarine Cable Based on Single Neuron Adaptive PID

To solve the problem of submarine cable route tracking, a multi way-points tracking control approach was designed based on Single Neuron Adaptive Proportional-Integral-Derivative controller (SNA-PID). Dynamic model of Remotely Operated Vehicle (ROV) was set up and simplified according to its kinetic characteristics and the actual needs of oceanic engineering application. Three SNA-PID controllers were used to control ROV's heading, surge velocity and sway velocity. And the LOS (line of sight) was utilized to guide ROV motion to track predefined way-points.

[1]  B. Jouvencel,et al.  Robust Nonlinear Path-Following Control of an AUV , 2008, IEEE Journal of Oceanic Engineering.

[2]  António Manuel Santos Pascoal,et al.  Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[3]  Thor I. Fossen,et al.  Path following of straight lines and circles for marine surface vessels , 2004 .

[4]  Changliang Xia,et al.  Speed Control of Brushless DC Motor Based on Single Neuron PID and Wavelet Neural Network , 2007, 2007 IEEE International Conference on Control and Automation.

[5]  Thomas Worzyk.  Operation and Maintenance: Reliability , 2009 .

[6]  Jenhwa Guo,et al.  A waypoint-tracking controller for a biomimetic autonomous underwater vehicle , 2006 .

[7]  D. A. Smallwood,et al.  Model-based dynamic positioning of underwater robotic vehicles: theory and experiment , 2004, IEEE Journal of Oceanic Engineering.

[8]  B. Jalving,et al.  The NDRE-AUV flight control system , 1994 .

[9]  Jih-Gau Juang,et al.  A single neuron PID control for twin rotor MIMO system , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[10]  K.Y. Pettersen,et al.  Adaptive way-point tracking control for underactuated autonomous vehicles , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[11]  Lionel Lapierre,et al.  Nonlinear Path Following Control of an AUV , 2007 .