无人艇航迹跟踪GPC-PID串级控制

USV Tracking Control Based on Cascade GPC-PID

水面无人艇(unmanned surface vehicle,USV)系统存在有大惯性、长时滞、非线性、难以建立精确模型等问题,易受海浪等外界干扰的影响,采用传统的PID控制难以达到良好的航迹跟踪控制效果。为了实现更好的控制效果,基于广义预测理论,将其与PID控制相结合,设计了GPC-PID串级控制器,分别控制无人艇的转艏运动和操舵运动,并采用分离式控制方案,通过航向控制间接实现无人艇的航迹跟踪控制。从matlab仿真实验结果可以看出,GPC-PID控制器具有良好的航向控制与航迹跟踪控制效果,具有响应速度快,控制精度高,鲁棒性好,抗干扰能力强等优点。

Traditional PID controller which was used in USV tracking control did not have a good effect because the problems of large inertia, long time delay, nonlinear, hard to build a precise model, easy impacted by external disturbances such as sea wave existed in the unmanned surface vehicle（USV） system. In order to get better control effect, a GPC-PID cascade controller is proposed which com- bine generalized predictive control and PID control. The controller controls the heading and rudder motion of the USV separately. Be- sides, indirect control plan is applied to realize the tracking control by heading control. Matlab simulation resuhs show that the GPC- PID controller has good heading and tracking controlling effects which include fast response, high control accuracy, strong anti-interfer- ence and robustness.