Multi-objective based Course-keeping Controller Optimization of Unmanned Surface Vehicle

被引：0
|
作者：
Xu Qingyang [1 ]
机构：
[1] Shandong Univ, Sch Mech Elect & Informat Engn, Weihai 264209, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Unmanned Surface Vehicle; multi-objective optimization; NSGA-II; nonlinear Nomoto model; PID; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Unmanned Surface Vehicle (USV) has been developed so fast due to the numerous applications. Course-keeping controller plays an important role in the navigation. PID is always adopted as the control law. However, tuning of PID is very difficult due to its multiple objectives. In this paper, NSGA-II is adopted to optimize the parameters of PID. In order to reflect the characteristics of the USV, a nonlinear Nomoto model is adopted to simulate the USV. Through the simulation, NSGA-II can optimize the parameters of PID under multiple objectives.
引用
收藏
页码：7483 / 7486
页数：4
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