基于WOA- LQR的无人水翼航行器横航向控制

Lateral-direct control of an unmanned hydrofoil vehicle based on a whale optimization algorithm-linear quadratic regulator (WOA-LQR)

针对一种新型的无人水翼航行器在航行过程中受到不规则海浪干扰时的横向姿态与航向控制问题,首先建立无人水翼航行器横向四自由度运动的非线性数学模型,并对数学模型进行线性化处理;然后针对普通线性二次型调节器(linear quadratic regulator, LQR)控制算法手动调试参数效率较低且控制效果难以达到最优的问题,使用鲸鱼优化算法(whale optimization algorithm, WOA)对LQR控制器的参数进行寻优以增强控制效果;最后在不同强度的随机海浪干扰下对航行器的横向姿态与航向控制进行仿真,验证了鲸鱼算法优化LQR的有效性。

Changes in the lateral attitude and heading control of a new type of unmanned hydrofoil vehicle when it is disturbed by irregular waves and winds during navigation can cause serious problems. In the light of these problems, a nonlinear mathematical model of lateral four-degree-of-freedom motion of an unmanned hydrofoil was established, and the mathematical model was linearized. Given that an ordinary linear quadratic regulator(LQR) control algorithm manually debugged the parameters inefficiently and the control effect was difficult to optimize, a whale optimization algorithm was used to optimize the parameters of the LQR controller to enhance the control effect. Finally, the effectiveness of the whale algorithm in optimizing LQR is verified by simulating the lateral attitude and heading control under random wave interference of different intensities.