基于模糊控制的无人水面艇航迹跟踪控制

Trajectory Tracking Control of Unmanned Surface Vehicle Based on Fuzzy Control

针对无人水面艇航迹跟踪控制问题,提出新的航迹控制框架,使用模糊控制和PID控制设计控制器。首先,航迹跟踪控制以分离式方案为基础,添加速度控制器完善控制结构;其次,分离式方案使用航迹PID控制-航向模糊控制-舵角PID控制的混合控制方式,速度环节使用PID控制器;最后,进行仿真验证,比较在有、无干扰的环境下的控制效果。仿真结果显示:新的航迹控制方案能够快速、准确的达到控制要求,具有良好的鲁棒性。

Based on the trajectory tracking control of the Unmanned Surface Vehicle(USV),we propose a new trajectory tracking control framework and use fuzzy control and PID to design controllers.Firstly,trajectory tracking control adopts a separate control scheme.To perfect the control structure,we add a speed control.Secondly,the separate control scheme uses a hybrid control mode which consists of track PID control,heading fuzzy control and rudder angle PID control.The speed control use PID control.Finally,we finish simulation experiment and compare the characteristics within or without disturb.The simulation result shows that the new trajectory tracking control framework could complete control objectives quickly and accurately with great robustness.