Track control has the problem of high cumulative tracking control error,which is easy to lead to safety accidents of unmanned ships,so the multi-target control technology of unmanned ship maritime track based on autonomous navigation system should be studied.In this paper,based on the autonomous navigation system to locate the unmanned ship,according to the sea environment information collected by the system,the unmanned ship maritime track is planned,and a composite controller by dynamic neural network combined with perturbation observer is designed to realize the multi-target tracking and control of the unmanned ship maritime track.The experimental results show that the research technology can track and control the maritime track of the unmanned ship in real time manner,improve the safety of the unmanned ship navigation,and has a significant advantage in the multi-target tracking control error.
关键词
自主航行系统/无人船/海上航迹/多目标控制技术
Key words
autonomous navigation system/unmanned ship/maritime track/multi-target control technology
维普
万方数据