小型无人艇无模型自适应路径跟踪控制

Model Free Adaptive Path Tracking Control for Small USV

针对不确定性影响下无人艇的路径跟踪控制问题,考虑到小型无人艇建模困难且现有基于模型的控制方法对系统模型的依赖性等问题,设计了基于无模型自适应控制算法与改进LOS制导算法的无人艇路径跟踪控制器.基于动态线性化方法分析并证明了等效数据模型的正确性,设计了紧格式动态线性化(CFDL)的无人艇航向航速无模型自适应控制器并结合改进LOS制导算法设计了无人艇路径跟踪控制器.以武汉理工大学iNav-IV型无人艇为研究对象进行了系列实验.实船实验结果表明:该自适应路径跟踪控制器的有效性,即使没有精确的数学模型,控制器也能保证较好的路径跟踪效果.

Aiming at the path tracking control problem of USV under the influence of uncertainty,considering the difficulty of modeling small USV and the dependence of existing model-based control methods on system model,a path tracking controller for USV based on model-free adaptive control algorithm and improved LOS guidance algorithm was designed.Based on the dynamic linearization method,this paper analyzed and proved the correctness of the equivalent data model.A model-free adaptive controller for heading and speed of USV based on compact dynamic linearization(CFDL)was designed,and a path tracking controller for USV was designed based on the improved LOS guidance algorithm.Finally,a series of experiments were carried out with iNav-IV USV of Wuhan University of Technology as the research object.The effectiveness of the adaptive path tracking controller was verified by the actual ship experiment results,and it shows that the controller can ensure better path tracking effect even without an accurate mathematical model.