Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm
ISSN: 0144-5154
Article publication date: 8 October 2018
Issue publication date: 6 December 2018
Abstract
Purpose
Underwater shuttle is widely used in scenarios of deep sea transportation and observation. As messages are transmitted via the limited network, high transmission time-delay often leads to information congestion, worse control performance and even system crash. Moreover, due to the nonlinear issues with respect to shuttle’s heading motion, the delayed transmission also brings extra challenges. Hence, this paper aims to propose a co-designed method, for the purpose of network scheduling and motion controlling.
Design/methodology/approach
First, the message transmission scheduling is modeled as an optimization problem via adaptive genetic algorithm. The initial transmission time and the genetic operators are jointly encoded and adjusted to balance the payload in network. Then, the heading dynamic model is compensated for the delayed transmission, in which the parameters are unknown. Therefore, the adaptive sliding mode controller is designed to online estimate the parameters, for enhancing control precision and anti-interference ability. Finally, the method is evaluated by simulation.
Findings
The messages in network are well scheduled and the time delay is thus reduced, which increases the quality of service in network. The unknown parameters are estimated online, and the quality of control is enhanced. The control performance of the shuttle control system is thus increased.
Originality/value
The paper is the first to apply co-design method of message scheduling and attitude controlling for the underwater unmanned vehicle, which enhaces the control performance of the network control system.
Keywords
Acknowledgements
Author contributions. Zeyu Li wrote the paper and performed the experiments. Weidong Liu and Zhi Liu provided some ideas to improve the paper. Feihu Zhang and Le Li reviewed and edited the manuscript. All authors read and approved the manuscript.
Funding. This work is supported by the National Key Research and Development Program of China under Grant 2016YFC0301700, the National Natural Science Foundation of China (NSFC) under Grant 61473224, the Fundamental Research Funds for the Central Universities under Grant 3102017OQD069 and the Natural Science Foudation of Hubei Province under Grant 2016CFB305.
The authors are also grateful for the constructive suggestions from reviewers that significantly enhance the presentation of this paper.
Citation
Li, Z., Liu, W., Li, L., Liu, Z. and Zhang, F. (2018), "Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm", Assembly Automation, Vol. 38 No. 5, pp. 635-644. https://doi.org/10.1108/AA-11-2017-149
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited