The course and speed cooperative control method for unmanned surface vehicles

In order to solve the problem of autonomous dynamic control for unmanned surface vehicles (USV) under unknown conditions, a course and speed cooperative control method based on the adaptive fuzzy algorithm is studied in this paper. The fuzzy control algorithm is designed as to the inputs are the devi-ation of course and position, and the outputs are the rudder angle and throttle. The self-adaptive control method is applied, of which the input is the deviation rate of course and the output is the control cycle, to make the system effectively response to external changes. The objective function of the optimization is the weighted minimum of the arrival time and the changing frequency of rudder. The specific effects of the pa-rameters, like domains and the control cycle, are analyzed. The results of optimization analysis show that the method enables the USV to successfully reach the target point in random disturbance conditions with different wind, current and wave, and to achieve the point to point autonomous voyage.