Heading control method of unmanned sailing boats based on fuzzy PID

Abstract

[Objectives] In order to improve the anti-jamming ability and navigation stability of the unmanned sailing boats in the changeable and unknown environment and to realize accurate control of the heading of sailing boats,a fuzzy adaptive control method combined with the traditional PID technology is proposed.[Methods] The Nomoto motion mathematical model with three degrees of freedom was established,and the fuzzy rules and simulation controller were built with the Simulink modeling tool of Matlab,which could optimize and adjust the PID control parameters in real time and online. In the case of different speeds and random perturbations,a comparison with the traditional PID control was made to analyze the influence of different control methods on the heading and validate it by experiments.[Results] The results show that the fuzzy PID method has good adaptive ability and robustness to control the heading of small unmanned sailing boats.[Conclusions] The study of this paper can provides references for heading control of unmanned sailing boats.

Keywords

• unmanned sailing boat
• fuzzy pid
• nomoto model
• heading control