Tracking Control Enabling Retrieval of Oceangoing Autonomous Surface Vehicles

摘要

When tracking a target, a crane must move from its initial position to the target area. This point-to-point move results in residual vibration due to the dynamics of the system. Once tracking is initiated, it is possible that the vibration caused by the initial move is amplified by the tracking input. This thesis focuses on the tracking of an Autonomous Surface Vehicle by blending of these two phases in order to increase tracking accuracy. Fuzzy Logic Control (FLC) is employed to blend an Input Shaper and Zero Phase Error Tracking Controller (ZPETC) together. The FLC is comprised of membership functions based on position and velocity error that is mapped to a gain. This gain determines whether or not tracking should be used based on the error. Using this control scheme, tracking is improved.