Course control of USV based on fuzzy adaptive guide control

The course control system of an unmanned surface vehicle (USV) is a complex system with time-varying, nonlinear and multi-disturbances. Traditional PID controllers often cause overshoot and concussion in USV course control. The Intelligent Track Guiding Control (ITGC) is introduced to suppress overshoot in the USV course controller design. On this basis, fuzzy control is applied to optimize control parameters to construct fuzzy adaptive guide controller (FC-ITGC). The controlled object is identified with recursive least squares method. Considering the presence or absence of interference, the FC-ITGC controller is tested in simulation. The simulation results validate that the FC-ITGC course controller has a good dynamic response and control effect.