无人水面艇模糊自抗扰路径跟踪控制的研究与验证

Research and Verification of Fuzzy ADRC Path Following Controller for USV

针对无人水面艇路径跟踪的精确控制问题,进行路径跟踪控制的研究。根据需求构建合适的无人水面艇运动数学模型,利用自抗扰控制算法,设计路径跟踪控制器,考虑到自抗扰控制中参数较为繁杂且整定不易的特点,结合模糊控制理论设计模糊自抗扰路径跟踪控制器。以大连海事大学“蓝信”号无人艇为研究对象,针对所设计的2种控制器进行MATLAB仿真试验,并使用“蓝信”号无人艇在大连星海湾大桥外海域进行实船验证试验,通过对仿真结果和试验结果的分析与对比,验证了所设计方法的可行性和有效性。

Aiming at the precise control problem of the path following of unmanned surface vehicle(USV),the path following control is researched. An appropriate motion mathematical model of USV is constructed according to the requirements, and the path following controller is designed by the active disturbance rejection control(ADRC) algorithm. Considering the complex parameters and difficult tuning characteristics of ADRC, a fuzzy ADRC path following controller is designed by combining the fuzzy control theory. Taking "Lanxin" USV of Dalian Maritime University as the research object, MATLAB simulation experiments are carried out for the two controllers designed. The "Lanxin" USV is used to carry out a real ship verification test in the sea area outside Dalian Xingwan Bridge. Through the analysis and comparison of simulation results and experimental results, the effectiveness and feasibility of the proposed method are verified.