基于P系统的无人艇航向非线性控制器设计  

Design of USV heading nonlinear controller based on P system

作　　者：龚波 周永华[1] GONG Bo;ZHOU Yonghua(College of Electrical Engineering, Guangxi University, Nanning Guangxi 530004, China)

机构地区：[1]广西大学电气工程学院

出　　处：《计算机应用》2019年第A01期50-53,共4页journal of Computer Applications

摘　　要：针对水面无人艇(USV)在实际航行过程中的航向跟踪控制问题,设计了一种基于P系统的航向非线性控制器。首先,建立无人艇运动和环境干扰的数学模型;其次,给出无人艇航向控制器的控制律和数字实现方法;然后,考虑到该控制器需整定参数较多,又改进了粒子群优化算法,并在P系统的基础上设计了粒子群优化细胞型膜算法,避免了粒子群算法容易陷入局部最优的问题,提高了粒子群算法实现多参数优化的效率。最后,将方法与模糊PID控制和传统PID控制进行仿真对比,实验结果表明该方法具有抗扰能力强、响应速度快、超调量小的优点。A heading nonlinear controller based on membrane system (also called P system) was designed to solve the heading tracking problem of Unmanned Surface Vehicle (USV) during a navigation. Firstly, the mathematical models of USV and environmental disturbance were established, and the control law and digital implementation method of the controller were proposed. Secondly, considering that there were much parameters of the controller to be tuned, the particle swarm optimization algorithm was improved, and a particle swarm optimization algorithm based on P system was designed, which avoided the problem that the particle swarm optimization algorithm was easy to fall into the local optimal solution, and the efficiency of particle swarm optimization for multi-parameter optimization was improved. Finally, the proposed method was compared with fuzzy PID control and conventional PID control. The experimental results show that the proposed controller has strong anti-interference ability, fast response speed and small overshoot.

关 键 词：无人艇 航向跟踪 P系统 非线性 粒子群优化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]