Adaptive propeller rudder controller for the wave glider with a propeller-rudder control system

Abstract

Compared with traditional wave glider with single rudder, the wave glider with a propeller-rudder control system has higher manoeuvrability. However, there are issues of the wave glider's special dual-body structure susceptible to disturbance and nonlinear effects caused by the interaction between the propeller and the rudder. To address these issues, an improved adaptive model predictive control based on model predictive control is proposed, which uses an improved heading control model based on the Nomoto equation and incorporates adaptive algorithm to handle disturbances. Besides, the rudder and propeller constraints, time-varying forward velocity of the wave glider with a propeller-rudder control system, and external disturbances are considered. The prediction interval size and the weight values of the rudder and the propeller according to the heading requirements can be adaptively adjusted. On the premise of ensuring heading tracking accuracy and response speed, attention should be paid to the rudder control during heading maintenance and the propeller control during heading changes. Sea trial is carried out to verify the real effectiveness, robustness, and propeller-rudder coupling control ability of the improved adaptive model predictive control controller. This study can provide a valuable reference for the heading control of wave gliders and other unmanned surface vehicles.