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      Design a software real-time operation platform for wave piercing catamarans motion control using linear quadratic regulator based genetic algorithm

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          Abstract

          This work presents optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem in head seas for wave piercing catamarans (WPC). The proposed LQR based GA control strategy is to select optimal weighting matrices (Q and R). The seakeeping performance of WPC based on proposed algorithm is challenged because of multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides the kinematical constraint problems of WPC, the external conditions must be considered, like the sea disturbance and the actuators (a T-foil and two flaps) control. Moreover, this paper describes the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC. Finally, the real-time (RT) NI CompactRIO embedded controller is selected to test the effectiveness of the actuators based on proposed techniques. In conclusion, simulation and experimental results prove the correctness of the proposed algorithm. The percentage of heave and pitch reductions are more than 18% in different high speeds and bad sea conditions. And the results also verify the feasibility of NI CompactRIO embedded controller.

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          Optimal approximation of fractional derivatives through discrete-time fractions using genetic algorithms

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            Rudder roll stabilization for ships

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              Novel intelligent real-time position tracking system using FPGA and fuzzy logic.

              The main aim of this paper is to test if FPGAs are able to achieve better position tracking performance than software-based soft real-time platforms. For comparison purposes, the same controller design was implemented in these architectures. A Multi-state Fuzzy Logic controller (FLC) was implemented both in a Xilinx(®) Virtex-II FPGA (XC2v1000) and in a soft real-time platform NI CompactRIO(®)-9002. The same sampling time was used. The comparative tests were conducted using a servo-pneumatic actuation system. Steady-state errors lower than 4 μm were reached for an arbitrary vertical positioning of a 6.2 kg mass when the controller was embedded into the FPGA platform. Performance gains up to 16 times in the steady-state error, up to 27 times in the overshoot and up to 19.5 times in the settling time were achieved by using the FPGA-based controller over the software-based FLC controller.
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                Author and article information

                Contributors
                Role: ConceptualizationRole: Funding acquisitionRole: Supervision
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: InvestigationRole: MethodologyRole: Project administrationRole: ResourcesRole: SoftwareRole: SupervisionRole: ValidationRole: VisualizationRole: Writing – original draftRole: Writing – review & editing
                Role: Project administrationRole: Resources
                Role: Validation
                Role: Editor
                Journal
                PLoS One
                PLoS ONE
                plos
                plosone
                PLoS ONE
                Public Library of Science (San Francisco, CA USA )
                1932-6203
                2018
                30 April 2018
                : 13
                : 4
                : e0196107
                Affiliations
                [001] College of Automation, Harbin Engineering University, Harbin, Nangang District 145, Harbin city, Heilongjiang Province, China
                Southwest University, CHINA
                Author notes

                Competing Interests: The authors have declared that no competing interests exist.

                Author information
                http://orcid.org/0000-0003-1122-6315
                Article
                PONE-D-17-21433
                10.1371/journal.pone.0196107
                5927446
                29709008
                3c971af7-22b7-4543-8702-27d37a848308
                © 2018 Liang et al

                This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

                History
                : 5 June 2017
                : 7 April 2018
                Page count
                Figures: 18, Tables: 5, Pages: 23
                Funding
                The author(s) received no specific funding for this work.
                Categories
                Research Article
                Engineering and Technology
                Mechanical Engineering
                Actuators
                Engineering and Technology
                Transportation
                Ships
                Physical Sciences
                Mathematics
                Applied Mathematics
                Algorithms
                Genetic Algorithms
                Research and Analysis Methods
                Simulation and Modeling
                Algorithms
                Genetic Algorithms
                Engineering and Technology
                Control Engineering
                Control Systems
                Computer and Information Sciences
                Systems Science
                Control Systems
                Physical Sciences
                Mathematics
                Systems Science
                Control Systems
                Computer and Information Sciences
                Computer Software
                Biology and Life Sciences
                Genetics
                Gene Expression
                Gene Regulation
                Biology and Life Sciences
                Genetics
                Gene Types
                Regulator Genes
                Computer and Information Sciences
                Computerized Simulations
                Custom metadata
                All relevant data are within the paper and its Supporting Information files.

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