Study on the Course and Speed Cooperative Control Method for Unmanned Surface Vehicle
- 10.2991/icadme-15.2015.236How to use a DOI?
- unmanned surface vehicle; fuzzy algorithm; self-adaptive control; cooperative optimization.
In order to solve the problem of autonomous dynamic control for unmanned surface vehicle (USV) under the unknown environment, the course and speed cooperative control method based on adaptive fuzzy algorithm is studied in this paper. A fuzzy control algorithm is designed of which the inputs are the deviation of course and position and the outputs are the rudder angle and throttle. The self-adaptive control method is used, of which the input is the deviation rate of course and the output is the control interval, to make system sensitive with external changes. The objective function of the optimization is the weighted minimum of the arrival time and the change frequency of rudder. The control effect of the parameters like domains has been analyzed. The results offer some suggestions for the optimization of parameters of the control system.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - S.J. Cao AU - Y.T. Chen AU - F.M. Zeng PY - 2015/10 DA - 2015/10 TI - Study on the Course and Speed Cooperative Control Method for Unmanned Surface Vehicle BT - Proceedings of the 5th International Conference on Advanced Design and Manufacturing Engineering PB - Atlantis Press SP - 1282 EP - 1286 SN - 2352-5401 UR - https://doi.org/10.2991/icadme-15.2015.236 DO - 10.2991/icadme-15.2015.236 ID - Cao2015/10 ER -