Unmanned ship course control system based on FA-LADRC

Abstract

The invention discloses an unmanned ship course control system based on FA-LADRC. The system specifically comprises the following steps: receiving set course angle information through a tracking differentiator, and calculating a course angle approximate value and a first-order differential of the course angle approximate value; receiving actual course angle information and the input control quantity of a ship by a linear expansion state observer, calculating an estimated value of the actual course of an unmanned ship and an estimated value of the first-order differential of the actual course,and calculating an estimated value of the total disturbance at the same time; compensating the input control quantity by a linear state error feedback module according to a total disturbance estimatedvalue transmitted by the linear extended state observer, and calculating the output control quantity of the unmanned ship; and setting the bandwidth wo and the undamped frequency wc of a linear auto-disturbance rejection module observer by using a firefly algorithm in combination with the actual course angle information and the course setting information of the unmanned ship, so that the final course output is stable. Fewer parameters need to be set, and the algorithm is simple and efficient; a firefly algorithm is combined, a target function is established through a time multiplication absolute error integral criterion, and the system is more stable and efficient.

Description

technical field [0001] The invention belongs to the technical field of course control, and more specifically, the invention relates to a FA-LADRC-based unmanned ship course control system. Background technique [0002] In recent years, with the continuous consumption of land resources, people's demand for marine resources has continued to increase. In order to better develop marine resources, unmanned ships have begun to be valued by various countries. For the sake of economy and safety, unmanned ships should keep on course as much as possible. Unmanned ships will encounter disturbances such as wind, waves and currents when navigating at sea. Therefore, how to keep unmanned ships on their course when navigating at sea has become the focus of attention of relevant departments. [0003] So far, many experts and scholars have done a lot of work on the heading control of unmanned ships, such as introducing control methods such as PID control, backstepping control and adaptive ...

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Problems solved by technology

[0003] So far, many experts and scholars have done a lot of work on the heading control of unmanned ships, such as introducing control methods such as PID control, backstepping control and adaptive control, but these control methods require high modeling accuracy of the controlled object , the anti-interference ability to the external environment is only applicable under certain conditions, and the robustness is not high

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