Design and Realization of LQR Course Keeping Control for Small Unmanned Surface Vehicle

A simple and effective modeling method and optimal control strategy are designed for the small unmanned surface vehicle (USV) which was developed by ourselves independently. Firstly, based on the classical Nomoto modeling theory, a linear autoregressive time series model is established indirectly using system identification technology, which could describe the dynamic relationship between the equivalent rudder angle and the heading angle deviation of the ship. Then, based on this model a linear quadratic regulator (LQR) is designed and the detailed real-time control comparisons with a classical PID control strategy and a conventional fuzzy control strategy are conducted. Finally, the real-time control results verify the effectiveness and superiority of the proposed modeling method and the LQR control strategy.