Design of the parameter-adjusting human simulated intelligent controller for water-jet-propelled unmanned surface vehicle

To solve the problems of uncertainty of ship model and the time-variable of ocean environment, this paper presents a parameter-adjusting control method for the water-jet-propelled Unmanned Surface Vehicle (USV) based on human simulated intelligent control. Firstly, the advantage of human motion control method was analyzed by the concept of bionics. Then according to the method of manufacturing system, the human simulated intelligent controller was designed by the way of planning the ideal error phase track, establishing the feature model and ratiocinating the control rule. And the design process was particularly analyzed, which include the running-level, the parameter-adjusting level and mission adapting level. Finally, the simulations of the running-level and parameter-adjusting level control for the USV directional control were carried out. The simulation result showed that the USV could keep direction and change direction in need. And the excellent adaptability and robustness of the human-simulated intelligent controller was verified by the sea trial navigation test.