Abstract
Course control is one of the key technologies for autonomous navigation of surface unmanned ship. In order to realize course control of surface unmanned ship, the main problems need to be solved include the steering constraint of surface unmanned ship and the disturbance of wind and waves during navigation. Based on the analysis of these two problems, this paper designs a course controller of surface unmanned ship based on predictive function control. The controller adopts the idea of prediction before control. In the process of solving the optimal control quantity online, the influence of above constraints and interference on heading control is fully considered, so as to realize timely compensation of interference. Then, the course controller based on predictive function control is simulated and compared with the course controller based on traditional PID control to verify the effectiveness of the controller.
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Wu, W., Qin, X., Qin, J., Song, B., Chen, X. (2023). Research on Course Control Algorithm of Unmanned Craft Based on Model Predictive Control. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_37
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DOI: https://doi.org/10.1007/978-981-99-1549-1_37
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