Straight path following of unmanned surface vehicle under flow disturbance

Path following is one of the key technologies of Unmanned Surface Vehicle (USV) to complete mission. The interference of flow is an inevitable environmental factor, the study of the straight path following of USV is aimed at enhancing the anti-interference ability of the path following control algorithm under the disturbance of flow. Based on the mathematical model of motion considering the influence of flow, the principle of straight path following is analyzed and the tracking controller is designed. Simulation and analysis are carried out on three kinds of control algorithms for incremental PID, fuzzy PID and the variable ship length rate fuzzy PD. For the sake of getting the best control algorithm, the comparison of anti-interference ability is carried out among the three algorithms under constant current. In order to reduce the influence of cross flow on the path following of USV, the method of desired heading angle correction is used to improve the control algorithm of the variable ship length rate fuzzy PD. In addition, the simulation results are compared and analyzed. The results suggest that the improved method can further enhance the performance of anti-interference.

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