Design and validation of course tracking controller for unmanned surface vehicle

  • FAN Yun-sheng ,
  • LI Chang-fei ,
  • WANG Guo-feng ,
  • GUO Chen ,
  • ZHAO Yong-sheng
Expand
  • Information Science and Technology College,Dalian Maritime University,Dalian 116026,China)

Received date: 2016-05-23

  Revised date: 2016-07-27

  Online published: 2016-07-27

Abstract

In order to solve the ‘LanXin’ unmanned surface vehicle (USV) course tracking control problem, a  course tracking controller was designed and implemented based on fuzzy self-adaptive PID algorithm. Firstly, the mathematical model of ‘LanXin’ USV was established, and its parameters were identified by using the real ship manipulate data. Secondly, a fuzzy self-adaptive PID course tracking controller was designed and simulated in the interference environment based on the identified USV model. Finally, unmanned surface vehicle’s posture data were blended by using Kalman filtering algorithm. The hardware and software system were designed and implemented by using the embedded course tracking controller. The actual ship experiments results show that the course tracking controller has good dynamic and static control performance and anti-disturbance ability in the condition of actual marine environmental interference, which can be used for the USV’s accurate and rapid course tracking control.

Cite this article

FAN Yun-sheng , LI Chang-fei , WANG Guo-feng , GUO Chen , ZHAO Yong-sheng . Design and validation of course tracking controller for unmanned surface vehicle[J]. Journal of Dalian Maritime University, 2017 , 43(1) : 1 -7 . DOI: 10.16411/j.cnki.issn1006-7736.2017.01.001

References

[1] YAN Ru-jian, PANG Shuo, SUN Han-bing, et al. Development and missions of unmanned surface vehicle[J].Journal of Marine Science and Application,2010,9(4):451-457.
[2]FAN Yun-sheng,GE Zeng-lu,ZHAO Yong-sheng,et al. Design of information network and control system for USV[C]//SICE Annual Conference 2015.[S.l.]: IEEE Press,2015.
[3]CACCIA M,BONO R,BRUZZONE G,et al.Design and exploitation of an autonomous surface vessel for the study of sea-air interactions[C]//Proceedings of the 2005 IEEE International Conference on Robotics and Automation.[S.l.]: IEEE Press,2005.
[4]LI Rong-hui,LI Tie-shan,LI Qiang.Application of active    disturbance rejection control in ship course and track control[C]//Proceedings of the 30th Chinese Control Conference.[S.l.]: IEEE Press,2011.
[5]KUMARAWADU S,KUMARA K J C.On the speed control for automated surface vessel operation[C]//Proceedings of the 2007 Third International Conference on Information and Automation for Sustainability.[S.l.]: IEEE Press,2007.
[6]潘永平,黄道平,孙宗海.欠驱动船舶航迹Backstepping自适应模糊控制[J].控制理论与应用,2011,28(7):907-914.
PAN Yong-ping,HUANG Dao-ping,SUN Zong-hai. Backstepping adaptive fuzzy control for track-keeping of underactuated surface vessels[J].Control Theory & Applications,2011,28(7):907-914.(in Chinese)
[7]DO K D,JIANG Z P,PAN J.Underactuated ship global tracking under relaxed conditions[J].IEEE Transactions on Automatic Control,2002,47(9):1529-1536.
[8]袁雷,吴汉松.船舶航向非线性系统的多滑模自适应模糊控制[J].智能系统学报,2010,5(4):308-312.
YUAN Lei,WU Han-song.Multiple sliding mode adaptive fuzzy controller for nonlinear marine autopilot systems[J].CAAI Transactions on Intelligent Systems 2010,5(4):308-312.(in Chinese)
[9]BAO Xin-ping,NONAMI K,YU Zhen-yu.Combined yaw and roll control of an autonomous boat[C]//Proceedings of the 2009 IEEE International Conference on Robotics and Automation.[S.l.]: IEEE Press,2009.
[10]李铁山,杨盐生,洪碧光,等.船舶航迹控制鲁棒自适应模糊设计[J].控制理论与应用,2007,24(3):445-448.
LI Tie-shan,YANG Yan-sheng,HONG Bi-guang,et al. Robust adaptive fuzzy design for ships track-keeping control[J].Control Theory & Applications,2007,24(3):445-448.(in Chinese)
[11]NAEEM W,SUTTON R,CHUDLEY J.Soft computing design of a linear quadratic Gaussian controller for an unmanned surface vehicle[C]//Proceedings of the 14th IEEE Mediterranean Conference on Control and Automation.[S.l.]: IEEE Press,2006.
[12]WITT N A J,MILLER K M,RUSSELL M E.Mathematical and scale model platforms for ship guidance trials[C]//Proceedings of IEEE Colloquium on Physical Modeling as a Basis for Control.[S.l.]: IEEE Press,1996.
[13]张显库,贾欣乐,刘川.响应型船舶运动数学模型的构造[J].大连海事大学学报,2004,30(1):18-21.
ZHANG Xian-ku,JIA Xin-le,LIU Chuan.Research on responding ship motion mathematical model[J].Journal of Dalian Maritime University,2004,30(1):18-21.(in Chinese)
[14]杨承恩,贾欣乐,毕英君.船舶舵阻横摇及其鲁棒控制[M]. 大连:大连海事大学出版社,2011.
[15]赵海森,杜中兰,刘晓芳,等.基于递推最小二乘法与模型参考自适应法的鼠笼式异步电机转子电阻在线辨识方法[J].中国电机工程学报,2014,34(30):5386-5394.
ZHAO Hai-sen,DU Zhong-lan,LIU Xiao-fang,et al.An on-line identification method for rotor resistance of squirrel cage induction motors based on recursive least square method and model reference adaptive system[J].Proceeding of the CSEE,2014,34(30):5386-5394.(in Chinese)
[16]FAN Yun-sheng,SUN Xiao-jie,WANG Guo-feng,et al.On fuzzy self-adaptive PID control for USV course[C]//Proceedings of the 34th Chinese Control Conference.[S.l.]: IEEE Press,2015.
[17]张杰.基于MEMS陀螺仪和加速度计的动态倾角传感器[J].机械设计与制造,2012(9):141-143.
ZHANG Jie.Dynamic tilt sensor based on MEMS gyro and accelerometer[J].Machinery Design & Manufacture,2012(9):141-143.(in Chinese)
[18]彭丁聪.卡尔曼滤波的基本原理及应用[J].软件导刊, 2009,8(11):32-34.
PENG Ding-cong.Pseudo-linear Kalman filter in passive target tracking[J].Software Guide,2009,8(11):32-34.(in Chinese)
Outlines

/