Genetic algorithms optimisation of decoupled Sliding Mode controllers: simulated and real results

Two decoupled Sliding Mode control configurations have been designed for the navigation and propulsion systems of CyberShip II, a scale model of an oil platform supply ship. These control structures have parameters that need to be tuned to improve their performance. These parameters have been optimised using Genetic Algorithms. The performance of these controllers has been analysed through computer-generated simulations based on a non-linear hydrodynamic model of CyberShip II. The robustness has been evaluated through simulation in the presence of environmental disturbances. Subsequently, the optimised controllers have been tested in the real plant and the results are shown.

[1]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[2]  Ken Dutton,et al.  The art of control engineering , 1988 .

[3]  D.J. Murray-Smith,et al.  Genetic algorithm optimisation of a supply ship propulsion and navigation systems , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[4]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[5]  David J. Murray-Smith,et al.  Genetic Algorithm Optimisation of a Ship Navigation System , 2001 .

[6]  Alfaro Cid,et al.  Optimisation of time domain controllers for supply ships using genetic algorithms and genetic programming , 2003 .

[7]  Dag Abel Sveen.  Robust and adaptive tracking control of surface vessel for synchronization with an ROV: Practical implementation on Cybership II , 2003 .

[8]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[9]  N. Nichols,et al.  Robust pole assignment in linear state feedback , 1985 .

[10]  S. K. Mudge,et al.  Enhanced assessment of robustness for an aircraft's sliding mode controller , 1988 .

[11]  Christopher Edwards,et al.  Sliding mode control : theory and applications , 1998 .

[12]  Thor I. Fossen,et al.  Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship , 2003, IEEE Trans. Control. Syst. Technol..

[13]  Euan McGookin,et al.  Optimisation of sliding mode controllers for marine applications : a study of methods and implementation issues , 1997 .

[14]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[15]  Johan Karel Zuidweg,et al.  Automatic guidance of ships as a control problem , 1970 .

[16]  A. J. Healey,et al.  Slow Speed Flight Control of Autonomous Underwater Vehicles: Experimental Results with NPS AUV II , 1992 .