基于在线自优化PID算法的USV系统航向控制-机器人-中国科学院.PDF

35 3 ROBOT Vol.35, No.3 2013 5 May, 2013 DOI 10.3724/SP.J.1218.2013.00263 PID USV 1,2 1,2,3 1 1 1. 110016 2. 100049 3. 330013 USV USV PID USV PID USV 1.5% PID TP273 A 1002-0446(2013)-03-0263-06 The Course Control Based on an On-line Self-adjusted PID Control Algorithm for Unmanned Surface Vehicles 1,2 1,2,3 1 1 HU Zhiqiang ZHOU Huanyin LIN Yiang LIU Tiejun (1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate University of Chinese Academy of Sciences, Beijing 100049, China; 3. School of Mechanical and Electronic Engineering, East China Institute of Technology, Nanchang 330013, China) Abstract: To improve the robustness of course control of the studied USV (unmanned surface vehicle) system under diverse sea conditions and settle the coupling between the surge speed and the course, a PID (proportional-integral-derivative) control algorithm whose control parameters are adaptively adjusted on-line is developed. The control parameters of the proposed PID control algorithm are some functions which are adaptively adjusted according to the surge speeds and the state errors of course. It is shown by Lyapunov function method that the proposed algorithm can keep the USV system stable. Some sea trials demonstrate that the control parameters are self-adjusted on-line according to surge speed and the state error