GA-PID Adaptive Control Research for Ship Course-keeping System

The ship course-keeping GA-PID adaptive control system was designed. The ship dynamic model was acquired by system identification. The parameters of PID controller were optimized by genetic algorithm, and then these parameters were given to the actual course-keeping system. When the system ran, the standard deviation of yaw-angle error was calculated. If the value of standard deviation overstepped the enacted bound, the dynamic model should be identified, and the PID parameters should be optimized again. The result of system simulation showed that, compared with the PID control system optimized by simplex method, this system had good adaptive ability for the variety of ocean condition. This system is simple and feasible, and it has the engineering application value.