高效无人艇航向控制器设计

Design of Efficient Steering Controller for Unmanned Surface Vehicle

针对无人艇航行中的动态环境特征,提出一种基于动态面控制技术的高效控制算法,以改善无人艇对复杂海洋环境的适应性。该算法运用单一神经网络进行全局逼近环境扰动,控制器设计结构简单,易于实现。仿真结果证明,该控制算法可实现精确的航向控制。

An efficient control algorithm is proposed based on dynamic surface control technology to improve the adaptability to the complex marine environment.The design uses a one layer neural network to obtain the global approximation of the environment disturbance and feed it to the controller for compemsation.The design is simple in structure and easy to implement.Simulations show that the proposed control algorithm can achieve precise course control.