On Model Parameters Identification and Fuzzy Self-adaptive Course Control for USV

In order to design the unmanned surface vehicle (USV) motion controller for "LanXin", through the USV maneuverability experiment such as zigzag test and turning motion, these experiment data will be acquired and analyzed. By using the recursive least square method, the parameters of USV maneuvering mathematical model and stern machine response model can be identified. A kind of fuzzy self-adaptive PID course controller for USV can be designed and implemented. Respectively, in the case that whether there is environmental disturbance and parameter perturbation, the simulation of the conventional PID and fuzzy self-adaptive PID course control are carried out. Through the comparison and analysis about the experimental data of simulation and reality testing, the correctness and rationality of the model parameters identification are demonstrated. And with the disturbances of wind, wave and current, the validity of fuzzy self-adaptive PID course control is verified. The method can provide reference for the design of course controller for USV.