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Fuzzy robust path tracking strategy of an active pelagic trawl system with coordinated ship and winch regulation

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Abstract

A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H 2/H ∞ controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H 2/H ∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H 2/H ∞ control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H 2/H ∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power Transmission and Control (Zhejiang University), Hangzhou, 310027, China

    Ying-long Chen  (陈英龙), Hua Zhou  (周华) & Jiao-yi Hou  (侯交义)

  2. 707 Institute of China Shipbuilding Industry Corporation, Jiujiang, 332007, China

    Yong-gang Zhao  (赵勇刚)

Authors
  1. Ying-long Chen  (陈英龙)
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  2. Hua Zhou  (周华)
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  3. Yong-gang Zhao  (赵勇刚)
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  4. Jiao-yi Hou  (侯交义)
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Corresponding author

Correspondence to Hua Zhou  (周华).

Additional information

Foundation item: Project(2009AA045004) supported by the Hi-tech Research and Development Program of China

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Chen, Yl., Zhou, H., Zhao, Yg. et al. Fuzzy robust path tracking strategy of an active pelagic trawl system with coordinated ship and winch regulation. J. Cent. South Univ. 21, 167–179 (2014). https://doi.org/10.1007/s11771-014-1928-1

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  • DOI: https://doi.org/10.1007/s11771-014-1928-1

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