Journal
EXPERT SYSTEMS WITH APPLICATIONS
Volume 55, Issue -, Pages 106-117Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.eswa.2016.01.057
Keywords
Intelligent control; Gain scheduling; Fuzzy logic; Genetic algorithms; Trajectory tracking; Unmanned surface vessel (USV)
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Funding
- Spanish Ministry of Science and Innovation (MICINN) [DPI2013-46665-C2-1-R]
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Trajectory tracking control for unmanned marine surface vessels (USV) is quite complex because of the strongly non-linearity of the system and the presence of uncertainties and environmental changing conditions. To face those issues, in this paper intelligent and conventional strategies are used as the main control framework for the rudder angle of an USV. The guidance law calculates the desired angle and estimates the trajectory based on the dynamic model of the autonomous ship, which has been generated from real data obtained from experiments with a scale prototype. The model accounts for the physical limitations of both the rudder and the ship propulsion system. An adaptive control law is first proposed which is suitable for any different trajectory and can deal with varying path shapes. This gain scheduling approach utilizes PID controllers whose tuning parameters have been optimized by genetic algorithms (GA) for the different operation points (GS-PID-GA). Besides, a fuzzy logic controller (FLC) is designed to deal with the uncertainties of the dynamics and to include the expertise of an operator. Simulations validate the effectiveness of the proposed control approaches that have been compared with conventional control. (C) 2016 Elsevier Ltd. All rights reserved.
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