Design and experiment of heading and speed control system of unmanned surface vehicle based on Type-2 fuzzy control
[Objective]As the complicated and changing environment on the water imposes uncertain inter-ference on the control of unmanned surface vehicles(USVs),a heading and speed controller for USVs with a Type-2 fuzzy control algorithm is proposed.On this basis,an intelligent autonomous and robust control sys-tem is developed.[Methods]First,a motion characteristic model for heading and speed is constructed.The recursive least square(RLS)method is then used to identify the parameters of the model.Finally,based on the identified model,a Type-2 fuzzy control algorithm and sliding mode control algorithm are designed and valid-ated through actual ship experiments.[Results]As the experimental results indicate,compared with the slid-ing mode control algorithm,the Type-2 fuzzy control algorithm demonstrates better robustness and ideal anti-interference ability in controlling USVs,but its real-time response is slightly longer.[Conclusion]The res-ults of this study can provide references for the motion control of USVs subjected to uncertain interference.
unmanned surface vehiclesheading and speed controlrecursive least squares methodType-2 fuzzy control
万方数据
维普
