Research On The Path Following Control Of Unmanned Surface Vessel

Unmanned surface vessel(USV),which is maneuverable,mobile,and vulnerable to enemy attacks,can accomplish many tasks that humans cannot accomplish or are dangerous.It is widely used in military and scientific investigations.For the nonlinearity,under-actuation characteristics of the unmanned surface vessel control system,the interference of external waves,and the uncertainty of the model parameters,improving the performance of path tracking for unmanned surface vessel is a hot topic of current research.In this paper,two kinds of control algorithm model predictive control and Backstepping are used to study the path tracking control of unmanned surface vessel respectively.According to the embedded Linux programming and model visualization technology,using the relevant modeling and programming software,the path tracking simulation program based on the embedded ARM controller unmanned surface vessel is written.The software can realistically simulate the motion control effect of the unmanned surface vessel,display the curves of each control volume in real time,and provide realistic simulation effects for the study of unmanned surface vessel track control.Firstly,a three-degree-of-freedom(yawing,swaying and surging)mathematical model of USV based on the momentum theorem and momentum torque theorem is established.Futhermore,a simple model of rudder is given and the mathematical model of wind,wave and current environmental interference are established,which establishe the base for the design and experimental analysis of USV heading control and path tracking system.Then,the idea of model predictive control is introduced firstly,and the heading prediction control law is designed by using the relevant model of unmanned surface vessel.The simulation experiment of heading control is completed.Then,the path tracking mathematical model of unmanned surface vessel is simplified by using the Serret-Frenet framework.The predictive control law of unmanned surface vessel path tracking model is given,and the path tracking simulation is completed by combining LOS guidance law.At the same time,it also attempts to establish the Backstepping method for straight path tracking.The controller is also verified by digital simulation.Finally,the design of unmanned surface vessel path tracking visual simulation system is completed by combining MultiGenCreator/Vega,VC++ and embedded ARM Linux predictive control system.Then the system debugging operation is carried out,and the visual simulation experiment of the unmanned boat path tracking is demonstrated.The results show that the de-signed software can simulate various situations in an image and realistic manner,and can obtain satisfactory simulation results.