The Open Cybernetics & Systemics Journal

2016, 10 : 180-191
Published online 2016 October 14. DOI: 10.2174/1874110X01610010180
Publisher ID: TOCSJ-10-180

RESEARCH ARTICLE
 A Parallel Hybrid Controller based on the Backstepping Method and S-plane Control for Three-dimensional Tracking of a Semi-pelagic Trawl System

Zhao Yan, *,1 , Yunsheng Mao2 and Shaohong Li2

* Address correspondence to this author at the Key Laboratory of High Performance Ship Technology, Wuhan University of Technology, Ministry of Education, Wuhan, Hubei Province, 430063, ; Tel: 15827533198; E-mail: yanzhao19890907@163.com

ABSTRACT

Aiming at improving the security of a semi-pelagic trawl in a complex working environment, this paper proposes a three-dimensional tracking control system for the guidance of a semi-pelagic trawl on a complicated trajectory. The flexible nonlinear trawl system is simplified as a mass-spring-bar model. A hierarchical backstepping controller is then designed for the trajectory tracking of the trawl net and two otter boards. However, high-order state variables caused by the non-strict feedback characteristic of the trawl system appear frequently in recursive processes. Hence, a control algorithm based on the Sigmoid function is applied to construct the control outputs of these high-order variables. The stability of the proposed hybrid control method is analyzed based on the Lyapunov theorem when interference with an unknown upper limit occurs. Finally, simulation and contrast examinations show that the control algorithm is effective.

Keywords:

Backstepping method, Lyapunov function, S(Sigmoid)plane control, Semi-pelagic trawl, Sigmoid function, Three-dimensional tracking.