Design of the Surface USV Heading Controller Based on the Predictive Function Control Principle

Abstract

In view of the controlling issues such as the steering restraints on the water and the turbulence by wind, wave, current and else in the midst of voyage, this paper designed a type of surface USV heading controller on the basis of predictive function control principle. The controller adopted the thought of prediction prior to control. With full consideration of above mentioned restraints and disturbance that affect the heading control, when the optimum control quantity was solved online, it fulfilled timely compensation on the turbulence. After that, simulation experiment was carried on upon the heading controller that was steered by predictive function; moreover, in comparison with the heading controller that was steered by traditional PID, it validated the effectiveness of the newly designed controller. In addition, it provided support for subsequent design of indirect flight path algorithm.