无人水面艇直线航迹跟踪控制器的设计与验证

Design and validation of path tracking controller for USV along straight-lines

针对欠驱动无人水面艇航迹跟踪控制问题,设计一种直线航迹跟踪控制器.该控制器由导引算法和航向控制器两部分组成.导引算法基于LOS导引原理,根据给定航迹得出无人艇的期望航向;航向控制器采用抗饱和PID控制方法,通过负反馈防止积分器饱和,解决了传统PID控制器的航向超调和振荡问题.该航迹跟踪控制方法在DH-01小型欠驱动无人水面艇上得到验证.试验结果表明,航迹跟踪误差小于0.05 m.

A straight-line path tracking controller was designed to solve the problem of straight-line path tracking of unmanned surface vehicles（ USV）. The controller consists of two parts,guidance law and a course controller. The guidance law is based on the Line-of-Sight（ LOS） guidance law,which provides the expected course according to the given path. An anti-windup course controller is devised to prevent integrator saturation through negative feedback. The controller solves the problem of overshoot and oscillation in traditional PID controller. A case study is provided on a USV called DH- 01 to demonstrate the performance of the tracking controller. Experimental results show that the tracking error is less than 0. 05 m.