Fuzzy Identification and Control Compensation of Unmanned Surface Vehicle Steering System
The steering system modeling and control compensation are the core technologies of autonomous Unmanned Surface Vehicle (USV). The steering characteristics of USV often have strong non-linearity and uncertainty under complex flow, wind and wave. Parameterized math approaches are difficult to achieve satisfactory performance in USV steering system modeling. In this paper, the USV steering system modeling is designed based on data mining technology and fuzzy inference system. This fuzzy data driven method can build the nonlinear function between the heading angle and the nonlinear term in USV steering system. Then, the identification result is applied to the control compensation design for the USV steering system. In the simulation study, a typical USV steering trial is simulated. Compared with the traditional PID control method, the proposed control compensation method demonstrates its rapidity and effectiveness in the control of nonlinear and uncertain USV steering system.
Control Compensation Data Mining USV Steering System Fuzzy Modeling
Yiming BAI Yongsheng ZHAO Yunsheng FAN
Information Science and Technology College, Dalian Maritime University, Dalian 116026, China
国际会议
重庆
英文
812-815
2015-12-18（万方平台首次上网日期，不代表论文的发表时间）