Intelligent rudder control of an unmanned surface vessel

作者：

Highlights：

• Trajectory tracking control of unmanned surface vessels (USV) is addressed.

• Gain scheduling PID optimized by GA and fuzzy logic controllers applied to USV.

• Novel and efficient combination of conventional and intelligent for rudder control.

• Model generated from real data of a scale replica of the operational ship.

• Control actions feasible as actuator saturation is included.

摘要

•Trajectory tracking control of unmanned surface vessels (USV) is addressed.•Gain scheduling PID optimized by GA and fuzzy logic controllers applied to USV.•Novel and efficient combination of conventional and intelligent for rudder control.•Model generated from real data of a scale replica of the operational ship.•Control actions feasible as actuator saturation is included.

论文关键词：Intelligent control,Gain scheduling,Fuzzy logic,Genetic algorithms,Trajectory tracking,Unmanned surface vessel (USV)

论文评审过程：Received 25 November 2014, Revised 30 January 2016, Accepted 31 January 2016, Available online 10 February 2016, Version of Record 2 March 2016.

论文官网地址：https://doi.org/10.1016/j.eswa.2016.01.057