Course Control of Unmanned Sailboat Based on BAS-PID Algorithm

Unmanned sailboat course control is the core of unmanned sailboat automatic navigation. In order to improve the stability of navigation course control, a compound PID controller combining beetle search algorithm (BAS-PID) and PID strategy is proposed to control the steering gear to achieve the course control of unmanned sailboat. Firstly, the Nomoto motion and steering gear mathematical model were established by Matlab/Simulink modeling tools. Secondly, the PID parameter adjustment problem is transformed into a three-dimensional parameter optimization problem, and the beetle search algorithm is used to optimize the PID parameters. Finally, the comparison of the performance indicators of different algorithms is simulated, and the result shows that the BAS-PID controller has a better control effect which provides a reference for the course control design of unmanned sailboat.