An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System

作者：Yan Zhao; Mao Yun Sheng; Liu Cheng Gang

来源：Journal of Control Science and Engineering, 2016, 2016: UNSP 1358412.

DOI：10.1155/2016/1358412

<jats:p>An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation) controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.</jats:p>

• 出版日期2016
• 单位武汉理工大学; 中国舰船研究设计中心