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Research on Course Control Algorithm of Unmanned Craft Based on Model Predictive Control

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Bio-Inspired Computing: Theories and Applications (BIC-TA 2022)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1801))

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Abstract

Course control is one of the key technologies for autonomous navigation of surface unmanned ship. In order to realize course control of surface unmanned ship, the main problems need to be solved include the steering constraint of surface unmanned ship and the disturbance of wind and waves during navigation. Based on the analysis of these two problems, this paper designs a course controller of surface unmanned ship based on predictive function control. The controller adopts the idea of prediction before control. In the process of solving the optimal control quantity online, the influence of above constraints and interference on heading control is fully considered, so as to realize timely compensation of interference. Then, the course controller based on predictive function control is simulated and compared with the course controller based on traditional PID control to verify the effectiveness of the controller.

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Author information

Authors and Affiliations

  1. China Ship Development and Design Center, Wuhan, Hubei, China

    Wei Wu, Bing Song & Xingbang Chen

  2. Wuhan Geomatics Institute, Wuhan, Hubei, China

    Xuemei Qin

  3. Wuhan Geotechnical Engineering and Surveying Co., Ltd., Wuhan, Hubei, China

    Jianhua Qin

Authors
  1. Wei Wu
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  2. Xuemei Qin
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  3. Jianhua Qin
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  4. Bing Song
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  5. Xingbang Chen
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Corresponding author

Correspondence to Wei Wu .

Editor information

Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, China

    Linqiang Pan

  2. Wuhan University of Technology, Wuhan, China

    Dongming Zhao

  3. Huazhong University of Science and Technology, Wuhan, China

    Lianghao Li

  4. Huazhong University of Science and Technology, Wuhan, China

    Jianqing Lin

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Wu, W., Qin, X., Qin, J., Song, B., Chen, X. (2023). Research on Course Control Algorithm of Unmanned Craft Based on Model Predictive Control. In: Pan, L., Zhao, D., Li, L., Lin, J. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2022. Communications in Computer and Information Science, vol 1801. Springer, Singapore. https://doi.org/10.1007/978-981-99-1549-1_37

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  • DOI: https://doi.org/10.1007/978-981-99-1549-1_37

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-1548-4

  • Online ISBN: 978-981-99-1549-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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