Track Control Algorithm Of Unmanned Surface Vessel Based On Model Predictive Control

Accurate track control is the basic guarantee for unmanned surface vessels to perform various tasks,and has become a hot spot in the research of unmanned surface vessel motion control.Unmanned surface vessels are subject to external disturbances in the actual navigation environment,resulting in problems with model uncertainty.MPC adopts feedback correction,which can cope with various uncertainties(including system interference,model mismatch,etc.),and through the rolling optimization strategy to solve the local optimization problem online,the optimization calculation amount is greatly reduced,and the response speed of the algorithm is improved.Therefore,based on the model predictive control theory,this paper studies the robustness and stability of the unmanned surface vessel in tracking control.The research contents is as follows:Firstly,the basic theory supporting the algorithm design of this paper is expounded,including mathematical model of unmanned surface vessel,model predictive control algorithm and the basic principle of line-of-sight guidance algorithm.Then,based on the maneuverability experimental data of the test boat,the maneuverability mathematical model of the unmanned surface vessel is established according to the relevant theory of the unmanned surface vessel mathematical model,which is used to verify the performance of the design algorithm.Secondly,aiming at the heading control problem of unmanned surface vessel,mainly includes the situation that the unmanned surface vessel itself has steering constraints and the presence of wind and waves during the navigation.In this paper,a unmanned surface vessel heading controller based on predictive function control is designed.The controller adopts the idea of pre-predictive control.In the online control process,the influence of the above constraints and disturbance on the heading control is fully considered,so as to timely compensate the interference.The heading control simulation experiment of the unmanned surface vessel heading controller based on predictive function control is carried out,and compared with the traditional PID control heading controller,the effectiveness of the controller is verified.The heading controller provides support for the design of the subsequent track indirect control algorithm.Finally,for the track control problem of the unmanned surface vessel,a direct track control and an indirect track control are proposed.In indirect track control,combining line-of-sight guidance algorithm with predictive function control,a track control system based on LOS+PFC is proposed.The simulation experiment results verify the advanced nature of the controller compared to the traditional LOS+PID track controller.In direct track control,the nonlinear model predictive control(NMPC)algorithm is used to solve the nonlinear and time-delay problems that are easy to occur in the track control of unmanned surface vessel.The simulated annealing algorithm is used to solve the optimal control sequence of the predictive control algorithm,which further improves the accuracy and real-time of the track control.The simulation results verify the good control effect of the controller.