Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm. Issue 5 (8th October 2018)

• Record Type: Journal Article
• Authors: Li, Zeyu; Liu, Weidong; Li, Le; Liu, Zhi; Zhang, Feihu
• Is Part Of: Assembly automation. Volume 38:Issue 5(2018)
• Page Start: 635
• Page End: 644
• Publication Date: 2018-10-08
• Subjects: Adaptive genetic algorithm -- Network control system; Automation -- Periodicals; Automatic machinery -- Periodicals; Assembly-line methods -- Periodicals; Industrial engineering -- Periodicals; 670.42705
• DOI: 10.1108/AA-11-2017-149
• Languages: English
• ISSNs: 0144-5154

Abstract

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.