华中师范大学学报（自然科学版）2018，Vol.52Issue(3)：329-332,346,5.DOI:10.19603/j.cnki.1000-1190.2018.03.007
水面无人艇模糊神经网络航向控制器设计
Design of fuzzy neural network heading controller for unmanned surface vehicles
摘要
Abstract
This paper presented a design method of heading controller based on fuzzy neural network algorithm to solve the problem that conventional PID controller has low anti-interference ability and low control precision.First,the membership function is determined by neural network classification regression,then three parameters of PID controller are adjusted online via Fuzzy control algorithm to ensure control the course of USV in real time.The simulation results show that this controller is capable to meets the need of heading control for real time,and it has the characteristics of high control precision and robustness,improves the adaptability of the USV in complex environment.关键词
无人艇/航向控制/模糊控制/BP神经网络/PIDKey words
unmanned surface vehicles/heading control/fuzzy control/BP neural networks/PID分类
信息技术与安全科学引用本文复制引用
赵东明,柳欣,周浩..水面无人艇模糊神经网络航向控制器设计[J].华中师范大学学报（自然科学版）,2018,52(3):329-332,346,5.基金项目
国家高技术研究发展计划(863计划)项目(2015AA015904). （863计划）
