An Improved MFAC Energy Saving Control Method for USVs in Wave Environments

Abstract

Unmanned surface vessels(USVs) are subjected to environmental disturbance in the process of movement. In particular, after being disturbed by waves, its motion control will deviate from the expected path, resulting in a waste of energy. In response to the problem of weak adaptability of fixed parameter controllers to the wave environment, the fuzzy control method was combined with the redefined model-free adaptive control(MFAC) method, and a fuzzy redefined MFAC(FRMFAC) algorithm was designed, which could adjust the control parameters according to the disturbance of different waves. At the same time, the line-of-sight method and FRMFAC algorithm were used to control the path following of USVs. Finally, compared with the fixed parameter control method, the effectiveness and energy saving effect of FRMFAC were verified. The simulation results show that the control method with variable parameters can effectively improve the adaptability of USVs to the environment and save energy.

Keywords

• unmanned surface vessel
• motion control
• model-free adaptive control
• wave disturbance