A Fuzzy Adaptive Algorithm-Based Coordinated Control Method for Unmanned Boat Course and Speed

Abstract

The invention discloses a cooperative control method for the course and speed of an unmanned boat based on a fuzzy self-adaptive algorithm. Aiming at the problems that the motion model is difficult to accurately determine, the dynamic response is not ideal, and the anti-interference ability is weak in the conventional control method, the fuzzy control algorithm is adopted. The adaptability of the USV control method under uncertain water surface conditions is improved, and the hull motion modeling problem in the conventional method is avoided; an improved two-input and two-output USV fuzzy control algorithm is proposed, and the distance fuzzy domain function is added as the algorithm input. And the heading and speed are included in the scope of autonomous control, and cooperative control is carried out, which improves the convergence speed of USV motion control and enhances the robustness of control; the heading angle deviation rate is used as a measure of the uncertainty of the operating environment and the degree of deviation of the operating state , automatically adjust the control interval parameters, so that the control algorithm can adaptively adjust the control parameters according to the change of the control environment, and further enhance the intelligence of the autonomous control system.

Description

technical field [0001] The invention belongs to the technical field of ship autonomous motion control, and specifically refers to a cooperative control method of course and speed of an unmanned boat based on a fuzzy self-adaptive algorithm. Background technique [0002] Autonomous motion control is one of the core technologies that distinguish an unmanned surface vehicle (USV) from manned ships. In the autonomous motion control problem, a practical and effective heading and speed control algorithm is the key for the USV platform to complete complex navigation tasks in various uncertain water surface environments. [0003] The current USV heading and speed control methods mainly include: (1) Taking heading maintenance as an automatic control target, so that the ship can automatically follow a given heading, but the given heading is not within the scope of autonomous control. The corresponding control algorithms mainly include: conventional control algorithms such as PID cont...

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Problems solved by technology

[0004] The above control methods have the following problems: (1) In terms of control algorithms, in conventional control algorithms based on precise mathematical models, it is difficult to accurately determine the hull motion model, and in uncertain and strongly nonlinear water surface environments, linear time-invariant The motion model parameters are difficult to describe the change of the hull motion state in real time and accurately; in the adaptive control algorithm, it is difficult to determine the adaptive function and the precise disturbance model; in the fuzzy control algorithm, the algorithm structure, the fuzzy domain of the input and output variables, the fuzzy The determination of the rules requires rich engineering practice experience

(2) In terms of control strategy, the degree of cooperative control of heading and speed is relatively weak. The contribution of heading to motion control results is mainly considered, and only heading is included in the scope of autonomous control algorithms, while less consideration is given to the rapidity and robustness of speed of motion control. and the influence of autonomy

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