Abstract
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.
Highlights
Single-boat midwater trawl systems have occupied an important position in pelagic fisheries
These systems consist of a fishing vessel, two sets of warp and otter boards, a towing winch system, and a trawl net
Zhou et al proposed a robust optimal output tracking control method based on a T-S fuzzy nonlinear model that makes the trawl net rapidly follow the desired trajectory under model uncertainties and external disturbances [12, 13]
Summary
Single-boat midwater trawl systems have occupied an important position in pelagic fisheries These systems consist of a fishing vessel, two sets of warp and otter boards, a towing winch system, and a trawl net. Zhou et al proposed a robust optimal output tracking control method based on a T-S fuzzy nonlinear model that makes the trawl net rapidly follow the desired trajectory under model uncertainties and external disturbances [12, 13]. The trajectory tracking control of a trawl system is in three-dimensional space; in addition to the depth adjustment, the horizontal-position control of the trawl net is needed. The state space model of a trawl system could be high-order nonlinear In this case, backstepping control is a common recursive design method in nonlinear control theory. Z lwz mo lr mn mo x oT ms y z lwy Figure 1: Simplified trawl system
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