Clustering Algorithm for Autonomous Heading Following of Unmanned Surface Vessel

Considering the problem of autonomous course-tracking of Unmanned Surface Vessel (USV) with uncertain systems, this paper put forwards a control method based on the clustering algorithm. The designed controller is composed of a clustering algorithm controller and a PID controller. Because of the uncertainty of the system, the clustering algorithm analysis controller online learned and classified the expected course to control the rudder, the PID controller adjusts the error. This method solves the problems of low control accuracy and poor control performance of robustness brought by the single system controller. By applying the proposed control method to the control design of USV autonomous course-tracking, the results of the simulation experiment show the effectiveness of the control method.