Trajectory tracking of small torpedo-type unmanned surface vessel based on intelligent predictive control

Table 1. Technical parameters of torpedo-type small USV
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Table 1. Technical parameters of torpedo-type small USV
参数数值
尺寸/m 1.20×0.13×0.13
空气中净重/kg 6.5
最高航速/kn 2.5
续航力/h 6
通信距离/km ≥2

Table 2. Comparison of control performance
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Table 2. Comparison of control performance
控制方法平均跟踪误差/m 运行时间/s
LMPC 0.109 33.628
智能预测控制 0.048 36.056

Table 3. Intelligent predictive controller parameter setting
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Table 3. Intelligent predictive controller parameter setting
参数数值参数数值
$ {N_{\rm{p}}} $ 5 N 40
$ {N_{\text{c}}} $ 5 Q diag([100,100,100])
$ {c_1} $，$ {c_2} $ 2 R diag([1,1])
M 30

Table 4. Partial test data

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Table 4. Partial test data

时间	经度/（°）	纬度/（°）	实际航向角/（°）
15:57:01	119.355 577	32.110 172	−97.25
15:57:53	119.355 022	32.109 840	165.61
15:58:35	119.354 756	32.110 217	74.04
15:59:39	119.355 073	32.110 817	−23.06
16:00:13	119.355 563	32.110 752	−105.12

Table 5. Comparison of trajectory tracking errors
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Table 5. Comparison of trajectory tracking errors
控制方法平均跟踪误差/m 航向角绝对值的平均误差/（°）
LMPC 2.195 2.527
智能预测控制 1.803 1.625

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Yu WENG, Qingjun ZENG, Wei LI, Ang LI, Xiaoqiang DAI. Trajectory tracking of small torpedo-type unmanned surface vessel based on intelligent predictive control[J]. Chinese Journal of Ship Research, 2024, 19(1): 158

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