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A novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control without steady-state oscillation

Published online by Cambridge University Press:  14 December 2021

Zhipeng Shen ,
Xuechun Fan ,
Haomiao Yu Open the ORCID record for Haomiao Yu [Opens in a new window] ,
Chen Guo  and
Saisai Wang
Zhipeng Shen*
Affiliation:
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, People's Republic of China
Xuechun Fan
Affiliation:
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, People's Republic of China
Haomiao Yu
Affiliation:
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, People's Republic of China
Chen Guo
Affiliation:
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, People's Republic of China
Saisai Wang
Affiliation:
College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, People's Republic of China
*
*Corresponding author. E-mail: yuhaomiao1983@163.com
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Abstract

This paper proposes a novel speed optimisation scheme for unmanned sailboats by sliding mode extremum seeking control (SMESC) without steady-state oscillation. In the sailing speed optimisation scheme, an initial sail angle of attack is first computed by a piecewise constant function in the feed forward block, which ensures a small deviation between sailing speed and the maximum speed. Second, the sailing speed approaches to maximum gradually by extremum search control (ESC) in the feedback block. In SMESC without steady-state oscillation, a switching law is designed to carry out the control transformation, so that the speed optimisation system carries out SMESC in the first convergence phase and ESC without steady-state oscillation in the second stability phase. This scheme combines the advantages of both control algorithms to maintain a faster convergence rate and to eliminate steady-state oscillation. Furthermore, the strict stability of the speed optimisation system is proved in this paper. Finally, we test a 12-m mathematical model of an unmanned sailboat in the simulation to demonstrate the effectiveness and robustness of this speed optimisation scheme.

Keywords

unmanned sailboatsspeed optimisation schemeextremum seeking controlsliding modewithout steady-state oscillation
Type
Research Article
Information
The Journal of Navigation , Volume 75 , Issue 3 , May 2022 , pp. 745 - 762
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Copyright
Copyright © The Author(s), 2021. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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