水下无人系统学报2024，Vol.32Issue(1)：57-65,9.DOI:10.11993/j.issn.2096-3920.2023-0040
波浪环境下无人水面艇改进MFAC节能控制方法
An Improved MFAC Energy Saving Control Method for USVs in Wave Environments
摘要
Abstract
Unmanned surface vessels(USVs)are subjected to environmental disturbance in the process of movement.In particular,after being disturbed by waves,its motion control will deviate from the expected path,resulting in a waste of energy.In response to the problem of weak adaptability of fixed parameter controllers to the wave environment,the fuzzy control method was combined with the redefined model-free adaptive control(MFAC)method,and a fuzzy redefined MFAC(FRMFAC)algorithm was designed,which could adjust the control parameters according to the disturbance of different waves.At the same time,the line-of-sight method and FRMFAC algorithm were used to control the path following of USVs.Finally,compared with the fixed parameter control method,the effectiveness and energy saving effect of FRMFAC were verified.The simulation results show that the control method with variable parameters can effectively improve the adaptability of USVs to the environment and save energy.关键词
无人水面艇/运动控制/无模型自适应控制/波浪干扰Key words
unmanned surface vessel/motion control/model-free adaptive control/wave disturbance分类
交通工程引用本文复制引用
魏佳广,张拓圣,辛筠炜,李怀亮,张西伟..波浪环境下无人水面艇改进MFAC节能控制方法[J].水下无人系统学报,2024,32(1):57-65,9.基金项目
国家重点研发计划(2021YFC2801300). （2021YFC2801300）
