Title :
Multi-objective based course-keeping controller optimization of Unmanned Surface Vehicle
Author_Institution :
Sch. of Mech., Electr. & Inf. Eng., Shandong Univ., Weihai, China
Abstract :
Unmanned Surface Vehicle (USV) has been developed so fast due to the numerous applications. Course-keeping controller plays an important role in the navigation. PID is always adopted as the control law. However, tuning of PID is very difficult due to its multiple objectives. In this paper, NSGA-II is adopted to optimize the parameters of PID. In order to reflect the characteristics of the USV, a nonlinear Nomoto model is adopted to simulate the USV. Through the simulation, NSGA-II can optimize the parameters of PID under multiple objectives.
Keywords :
genetic algorithms; navigation; nonlinear control systems; remotely operated vehicles; three-term control; NSGA-II; PID parameter optimization; USV; multiobjective based course-keeping controller optimization; navigation; nonlinear Nomoto model; unmanned surface vehicle; Collision avoidance; Marine vehicles; Mathematical model; Optimization; Tuning; Vehicles; NSGA-II; PID; Unmanned Surface Vehicle; multi-objective optimization; nonlinear Nomoto model;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896245
