Fuzzy Identification and Control Compensation of Unmanned Surface Vehicle Steering System

DOI

10.2991/jimet-15.2015.151How to use a DOI?

Keywords

Control Compensation; Data Mining; USV Steering System; Fuzzy Modeling

Abstract

The steering system modeling and control compensation are the core technologies of autonomous Unmanned Surface Vehicle (USV). The steering characteristics of USV often have strong non-linearity and uncertainty under complex flow, wind and wave. Parameterized math approaches are difficult to achieve satisfactory performance in USV steering system modeling. In this paper, the USV steering system modeling is designed based on data mining technology and fuzzy inference system. This fuzzy data driven method can build the nonlinear function between the heading angle and the nonlinear term in USV steering system. Then, the identification result is applied to the control compensation design for the USV steering system. In the simulation study, a typical USV steering trial is simulated. Compared with the traditional PID control method, the proposed control compensation method demonstrates its rapidity and effectiveness in the control of nonlinear and uncertain USV steering system.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Yiming Bai
AU  - Yongsheng Zhao
AU  - Yunsheng Fan
PY  - 2015/12
DA  - 2015/12
TI  - Fuzzy Identification and Control Compensation of Unmanned Surface Vehicle Steering System
BT  - Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference
PB  - Atlantis Press
SP  - 812
EP  - 815
SN  - 2352-538X
UR  - https://doi.org/10.2991/jimet-15.2015.151
DO  - 10.2991/jimet-15.2015.151
ID  - Bai2015/12
ER  -