Differential evolution algorithm-based tracking control for USVs

Renqiang Wang; Keyin Miao; Dawei Chen; Changhua Liu

doi:10.1117/12.2682896

16 June 2023 Differential evolution algorithm-based tracking control for USVs

Renqiang Wang, Keyin Miao, Dawei Chen, Changhua Liu

Proceedings Volume 12703, Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023); 1270327 (2023) https://doi.org/10.1117/12.2682896
Event: Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023), 2023, Hong Kong, China

Abstract

Differential evolution algorithm-based tracking control for under-actuated USVs was proposed in paper to deal with the problem of path tracking under external interference. Via the USV’s separated mathematical model, the iterative sliding surface design is carried out by using the hyperbolic tangent function, and the driven inputs of the servo of the ship are deduced. Then, the parameters of the designed sliding mode controller are optimized online through Differential Evolution Algorithm (DEA), which enhance the adaptability performance of the controller. The computer simulation results verify the feasibility of the method.

Citation Download Citation

Renqiang Wang, Keyin Miao, Dawei Chen, and Changhua Liu "Differential evolution algorithm-based tracking control for USVs", Proc. SPIE 12703, Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023), 1270327 (16 June 2023); https://doi.org/10.1117/12.2682896

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