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

被引：0
|
作者：
Fan Yunsheng [1 ]
Sun Xiaojie [1 ]
Wang Guofeng [1 ]
机构：
[1] Dalian Maritime Univ, Sch Informat Sci & Technol, Dalian 116026, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
USV; Model parameters identification; Recursive least square; Fuzzy self-adaptive PID; Course control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：6332 / 6338
页数：7
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