Design of Surface Unmanned Ship Heading Controller Based on Predictive Function Control
XIA Yunpeng
YANG Tiantian
Abstract：Aiming at the steering constraints of surface unmanned ships and the heading control problems such as wind and waves during the navigation process,a surface unmanned ship heading controller based on predictive function control is designed. The controller adopts the first predictive control. Thoughts,in the process of solving the optimal control amount online,the influ?ence of the above constraints and interference on the heading control are fully considered,so as to achieve timely compensation for interference. Then,the simulation experiment of the heading controller based on the predictive function control is carried out,and is compared with the heading controller based on the traditional PID control,the validity of the controller is verified,and the design of the subsequent track indirect control algorithm is provided and supported.
Keywords：simulated annealingUSVheading control
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( 54-59 )