Trajectory tracking of small torpedo-type unmanned surface vessel based on intelligent predictive control
[Objective]Aiming at the difficulties of the accuracy maintenance and tracking control of un-manned surface vessels(USVs)operating in narrow lakes and culverts,an intelligent predictive control meth-od for trajectory tracking is proposed on the basis of a self-developed small torpedo-type USV.[Methods]First,a self-developed nonlinear state space model of the underactuated USV is constructed.An intelligent pre-dictive controller is designed on the basis of the model predictive control design concept and combined with an improved particle swarm optimization(PSO)algorithm to make online decisions,optimize the performance indicators at every moment and correct the predicted state.Finally,simulation and lake tests are carried out to test the tracking performance of the system on reference trajectories,and the tracking performance is com-pared with that of the linear model predictive controller.[Results]The results show that the designed intelli-gent predictive controller has fast response speed,small overshoot and good anti-interference capabilities.[Conclusion]The proposed method can not only be applied to the tracking systems of small torpedo-type USVs,but can also provide references for other USV tracking systems.
万方数据
维普
