Unmanned ship path tracking control method based on internal model control and genetic algorithm

Abstract

The invention discloses an internal model control and genetic algorithm-based unmanned ship path tracking control method. The method comprises the following steps of S1, establishing an unmanned shipmotion mathematical model; S2, an improved LOS guidance law is designed, and the forward-looking distance is adjusted in a self-adaptive mode by establishing a nonlinear relation between the steeringradius and the transverse deviation of the unmanned ship; S3, designing an internal model controller according to the mathematical model of the unmanned ship; and S4, performing global optimization onthe controller parameters by adopting a genetic algorithm. According to the method, the self-adaptive adjustment capability of the unmanned ship in the moving process can be enhanced, model errors can be eliminated to a certain extent, so the path tracking controller is more stable, and parameters of the controller are flexibly adjusted, so the unmanned ship obtains better dynamic performance inactual motion.

Description

Technical field [0001] The invention relates to the technical field of path tracking, in particular to an unmanned ship path tracking control method based on internal model control and genetic algorithm. Background technique [0002] The unmanned ship is an intelligent, automated, and unmanned surface operation platform, which is widely used in military combat reconnaissance, large water area monitoring, and marine resource exploration. Motion control technology is a key part of unmanned ship's autonomous operation in water environment, and it is also a hot issue in the field of unmanned ship research. The research content mainly includes speed and heading control, trajectory tracking control, path tracking control, etc. The scheme of the present invention mainly designs the content of the path tracking control of the unmanned ship. [0003] In actual navigation, the unmanned ship's motion state is not only affected by the instability of its own system, but also interfered by fac...

AI Technical Summary

Problems solved by technology

[0005] (1) Existing path tracking schemes rely on accurate ship models. When there are model errors and large heading and track errors caused by external environmental disturbances, the ship cannot adaptively adjust the motion state, resulting in control effects that are not as expected

[0006] (2) The model parameters of the ship or the control parameters of the controller are often manually adjusted by empirical trial and error method, which has a large calculation burden and poor timeliness, which is not conducive to practical engineering applications

Images