Multi-objective based Course-keeping Controller Optimization of Unmanned Surface Vehicle

摘要：

　　Unmanned Surface Vehicle(USV)has been developed so fast due to the numerous applications.Course-keeping controller plays an important role in the navigation.PID is always adopted as the control law.However,tuning of PID is very difficult due to its multiple objectives.In this paper,NSGA-II is adopted to optimize the parameters of PID.In order to reflect the characteristics of the USV,a nonlinear Nomoto model is adopted to simulate the USV.Through the simulation,NSGA-II can optimize the parameters of PID under multiple objectives.

关键词： Unmanned Surface Vehicle multi-objective optimization NSGA-II nonlinear Nomoto model PID

作者: XU Qingyang

作者单位: School of Mechanical,Electrical & Information Engineering,Shandong University,Weihai 264209

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 7483-7486

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）