无人艇自适应路径跟踪控制器的设计与验证

Design and validation of adaptive path following controller for USV

针对航行环境和船速变化下的无人艇路径跟踪控制问题,本文提出了一种基于变增益内模控制方法的无人艇自适应路径跟踪控制器。结合状态空间型船舶线性数学模型、差分GPS和电子罗经的数据实现对无人艇操纵响应模型的在线参数估计;建立基于变增益内模控制方法的无人艇艏向控制器,并根据计算出的无人艇操纵性指数在线调节控制器的参数;利用Line-of-Sight(LOS)制导算法设计并实现无人艇的自适应路径跟踪控制器。实船实验结果表明:在实际的航行环境中,该自适应路径跟踪控制器具有良好的控制性能。

To solve the path following(PF)control problem of unmanned surface vehicles(USV)under the timevarying navigation environment and vessel speed,this study proposes an adaptive PF controller based on the variable-gain internal model control(IMC)algorithm.First,state space ship linear mathematical model,differential global positioning system(DGPS)data,and electronic compass data were used to estimate the parameters of Nomoto model online.Second,a heading controller based on variable-gain IMC algorithm was designed and implemented.The parameters of the controller were adjusted online based on the estimated parameters of the Nomoto model.Finally,an adaptive PF controller of the USV was designed and implemented using Line-of-Sight(LOS)guidance algorithm.Results of the real ship experiments show that the adaptive PF controller exhibits good controlling performance in the condition of a real navigation environment.