The method and experiments of redefined model-free adaptive heading control of unmanned surface vehicle

被引：0
|
作者：
Liao Y. [1 ]
Du T. [1 ]
Fu Y. [1 ]
Jiang Q. [1 ]
Chen Q. [1 ]
Jiang W. [1 ]
机构：
[1] Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2020年 / 41卷 / 01期
关键词：
Adaptive control; Heading control; Model-free adaptive control(MFAC); Pseudo partial derivative; Redefined output; Uncertain influence; Unmanned surface vehicle;
D O I：
10.11990/jheu.201808090
中图分类号：
学科分类号：
摘要：
To solve the heading control problem of unmanned surface vehicle (USV) with uncertain influence, an improved model-free adaptive control method (MFAC) is proposed in this paper. First, the compact form dynamic linearization MFAC (CFDL-MFAC) method and its inherent failure problem in USV heading control applications were analyzed. Then, aiming at the special dynamic characteristics of USV heading control subsystem, the redefinition output MFAC method was developed by introducing the redefinition output gain. Theoretical analysis shows that this method can make the heading control subsystem satisfy the quasi-linear assumption of MFAC theory. Finally, the effectiveness and practicability of the proposed method are verified through the simulation studies and field experiments of the Dolphin-Ⅱ small USV. © 2020, Editorial Department of Journal of HEU. All right reserved.
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页码：37 / 43
页数：6
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