Variable output model-free adaptive heading control method for unmanned surface vehicle

Table 1. Parameters for MFAC method
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Table 1. Parameters for MFAC method
方法 $ \phi $ $ \rho $ $ \lambda $ $ {k_r} $
CFDL-MFAC 0.6 0.4 3 −
VCFDL-MFAC 0.6 0.4 3 0.7

Table 2. RMS values of heading angle response
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Table 2. RMS values of heading angle response
方法 RMS/(°)
噪声扰动模型摄动
PID 1.16 25.79
VCFDL-MFAC 0.10 9.05

Table 3. Control method parameter table

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Table 3. Control method parameter table

方法	参数值
PID	${k_{\rm{p}}} = 2.5,{k_{\rm{d}}} = 0.8,{k_{\rm{i}}} = 0.01$
CFDL-MFAC	$ \eta = 1,\mu = 100,\varepsilon = 0.001,\rho = 0.5,\lambda = 0.5 $
VCFDL-MFAC	$ \eta = 1,\mu = 100,\varepsilon = 0.001,\rho = 0.5,\lambda = 0.5,{k_r} = 0.8 $

Table 4. RMS and RMSE values of heading response
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Table 4. RMS and RMSE values of heading response
方法 RMS/(°) RMSE/(°)
V = 0.9 m/s V = 1.4 m/s V = 0.9 m/s V = 1.4 m/s
PID 1.71 2.03 2.79 3.46
VCFDL-MFAC 0.71 1.72 0.44 1.01

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Yulei LIAO, Congcong CHEN, Tingpeng DU, Bo WANG, Ye LI. Variable output model-free adaptive heading control method for unmanned surface vehicle[J]. Chinese Journal of Ship Research, 2024, 19(1): 75

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