The Research And Implementation Of USV’s Straight Line Path Following Control

Unmanned Surface Vehicle(USV)become the key point of the development of intelligent marine equipment at home and abroad with its wide application prospects.As an important means of marine exploration and mapping,marine environmental monitoring,and safeguarding national maritime interests,research on USV has increasingly become the focus and hotspot of academic research.How to ensure the USV to track the trajectory accurately under the premise of safe navigation has become the basis for the completion of the strategic and tactical target of the USV,when environment is complicated and changeable.This makes the fast track path became one of the important contents of the USV track research.In order to realize the fast and accurate path tracking of the surface unmanned boat,the paper select "LanXin" USV of Dalian Maritime University as the object of study,and made reference to a large number of domestic and foreign scholars.For straight path tracking control problem,the indirect path tracking controller and the direct path tracking controller are designed and simulation,and design a cascade fuzzy adaptive linear path tracking experiment.The main content is divided into the following sections:First of all,linear and nonlinear mathematical models were established for the"LanXin" USV based on the knowledge of ship mathematical model,and the model parameters were identified according to the data of USV maneuvering experiment.Which provides a mathematical model for the research of linear path tracking controller,linear path tracking control and the establishment of simulation platform.Secondly,in the study of the indirect path tracking control method,the fuzzy adaptive heading controller and the fuzzy adaptive guidance controller are designed by using the principle of the fuzzy adaptive PID control algorithm,to realize the parameter on-line self-tuning.A cascade linear trajectory tracking control system with inner and outer ring fuzzy self-adaptive controller is designed.The simulation results show that the designed control system has good self-adaptability and can achieve fast and accurate control of linear path-following control targets.Thirdly,in the study of the direct path tracking control method,combining the backstepping method and the sliding mode control principle.Backsteeping sliding straight path tracking controller is designed based on USV’s model with Second-order...