Fuzzy Identification and Control Compensation of Unmanned Surface Vehicle Steering System
- 10.2991/jimet-15.2015.151How to use a DOI?
- Control Compensation; Data Mining; USV Steering System; Fuzzy Modeling
The steering system modeling and control compensation are the core technologies of autonomous Unmanned Surface Vehicle (USV). The steering characteristics of USV often have strong non-linearity and uncertainty under complex flow, wind and wave. Parameterized math approaches are difficult to achieve satisfactory performance in USV steering system modeling. In this paper, the USV steering system modeling is designed based on data mining technology and fuzzy inference system. This fuzzy data driven method can build the nonlinear function between the heading angle and the nonlinear term in USV steering system. Then, the identification result is applied to the control compensation design for the USV steering system. In the simulation study, a typical USV steering trial is simulated. Compared with the traditional PID control method, the proposed control compensation method demonstrates its rapidity and effectiveness in the control of nonlinear and uncertain USV steering 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 - Yiming Bai AU - Yongsheng Zhao AU - Yunsheng Fan PY - 2015/12 DA - 2015/12 TI - Fuzzy Identification and Control Compensation of Unmanned Surface Vehicle Steering System BT - Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference PB - Atlantis Press SP - 812 EP - 815 SN - 2352-538X UR - https://doi.org/10.2991/jimet-15.2015.151 DO - 10.2991/jimet-15.2015.151 ID - Bai2015/12 ER -