Path following control of unmanned surface vessel based on improved model-free adaptive controller
BAO Tao
CHEN Zhuo
ZHOU Ze-xin
GUO Yu
HE Yun-qian
Abstract：An improved path following controller of unmanned surface vessel(USV)based on improved model-free adaptive control(IMFAC)algorithm is proposed to solve the control problem which is degraded by wind,wave and other environmental disturbances and changes of USV's states.Firstly,an adaptive forward-looking circle is integrated to min-imize steering errors in traditional line-of-sight methods.A virtual output term is designed for the model-free adaptive control algorithm to satisfy the operating conditions of the algorithm,and the fast convergence of the algorithm is achieved at the later stage by using the added differential term.To optimize the numerous initial parameters in the model-free adaptive control algorithm,the bacterial foraging optimization algorithm is employed,ensuring swift controller response.Finally,the anti-interference and effectiveness of the proposed algorithm are verified by semi-physical simulation experiments and real boat testing in actual water areas.
Keywords：unmanned surface vesselmodel-free adaptive controlbacterial foraging algorithmpath following
Publication Date：2025-09-30
Online Publishing Date：2025-10-28(First online date of this platform, not the publication date of the document)
Pages：9( 1849-1857 )