Design of Direct Track Control Algorithm Based on Simulated Annealing Optimization
XIA Yunpeng
YANG Tiantian
Abstract：At present,the track control types of surface unmanned ships are mainly divided into direct type track control and indirect type track control. The two types of track control have their own advantages in the track control of unmanned ships. The di?rect control algorithm has high control precision,but it still cannot meet the requirements. Aiming at this problem,a nonlinear mod?el predictive control algorithm based on simulated annealing optimized NMPC algorithm is proposed to design a direct unmanned ship track controller. Considering the nonlinear and time-delay problems that are easy to occur in unmanned ship track control,The simulated annealing algorithm is used to solve the optimal control sequence of the predictive control algorithm. Simulation experi?ments show that the algorithm effectively improves the accuracy and real-time of track control.
Keywords：track controlmodel predictive controlsimulated annealingUSV
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 50-55 )