控制理论(社会学)
稳健性(进化)
滑模控制
工程类
非线性系统
迭代学习控制
控制器(灌溉)
控制工程
计算机科学
人工智能
控制(管理)
生物化学
化学
物理
量子力学
生物
农学
基因
作者
Renqiang Wang,Huaran Yan,Qinrong Li,Yuming Deng,Yutong Jin
摘要
In this paper, a type of tracking controller on the basis of parameters optimization was proposed for unmanned surface vehicles (USVs). Taking into account the unique nonlinear and large inertia characteristics of USVs, an iterative sliding mode control (ISMC) was adopted to construct the controller including the USVs’ main engine speed controller to determine the longitudinal velocity and the steering controller to control the lateral displacement. In designing, the hyperbolic tangent function with the saturation characteristic is introduced to design the output feedback control law of nonlinear iterative sliding mode. Then, the differential evolution algorithm (DEA) is applied to construct the parameters optimization system for acquiring the optimal parameters of the proposed controller, and the control quality with adaptive ability and robustness of the optimized controller is achieved. It is verified by computer experiments that the optimized controller realizes the tracking control for USV under interference; meanwhile, compared with the iterative sliding mode controller, the control performance of the controller is better and the robustness of that is stronger.
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