基于改进型ADRC算法的无人水面侦察艇轨迹跟踪

王晓慧; 黄 刚; 丁 洁; 岳 光; 潘玉田

doi:10.11993/j.issn.2096-3920.2021.03.006

基于改进型ADRC算法的无人水面侦察艇轨迹跟踪

doi: 10.11993/j.issn.2096-3920.2021.03.006

王晓慧¹,
黄刚¹,
丁洁²,
岳光^3,4,
潘玉田⁴

1.
太原工业学院电子工程系, 山西太原, 030008
2.
太原理工大学电气与动力工程学院, 山西太原, 030024
3.
太原工业学院自动化系, 山西太原, 030008
4.
中北大学军民融合协同创新研究院, 山西太原, 030051

基金项目: 国家自然基金(51275489); 山西高等学校科技创新项目(2020L0673).

详细信息

作者简介:
王晓慧(1986-), 女, 硕士, 讲师, 主要研究方向为测试与检测技术、无线传感器网络、智能算法、无人智能化等.

中图分类号: TJ630 U664.82
计量
- 文章访问数: 170
- HTML全文浏览量: 4
- PDF下载量: 78
- 被引次数: 0
出版历程
- 收稿日期: 2020-11-19
- 修回日期: 2020-12-18
- 刊出日期: 2021-06-30

Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm

1.
Department of Electronic Engineering, Taiyuan Institute of Technology, Taiyuan 030008, China
2.
College of Electrical Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
3.
Department of Automation, Taiyuan Institute of Technology, Taiyuan 030008, China
4.
Collaborative Research Institute of Civil Military Integration, North University of China, Taiyuan 030051, China

摘要

摘要: 针对当前无人水面侦察艇在面临复杂水域环境下出现的反应迟钝、稳定性欠佳以及参数调节繁杂等问题, 提出一种基于改进型自抗干扰控制(ADRC)算法的无人水面侦察艇轨迹跟踪方法。通过研究其控制系统, 构建改进型ADRC控制器构架, 并在ADRC算法中引入遗传变异结合粒子群优化的策略, 对ADRC控制器各参数进行初值初始化及全局参数寻优。仿真和实验结果对比可知, 文中方法与传统算法相比具有响应速度快、超调量小、误差低、轨迹跟踪精确度高等优势, 运用该算法的无人水面侦察艇在复杂水域环境下的轨迹跟踪效果良好, 行驶平稳。
- 无人水面侦察艇 /
- 自抗干扰控制算法 /
- 轨迹跟踪 /
- 遗传算法 /
- 粒子群优化
Abstract: To solve the problems of slow response, poor stability, and complex parameter adjustment of current unmanned surface reconnaissance vessels in complex water environments, a trajectory-tracking method for unmanned surface reconnaissance vessels based on the improved active disturbance rejection control(ADRC) algorithm. By studying the control system of an unmanned surface reconnaissance vessel, an improved ADRC controller architecture is constructed. Then, genetic mutation and particle swarm optimization are introduced into the algorithm to initialize the parameters of ADRC and optimize global parameters. Compared with the traditional algorithm, the proposed method has the advantages of fast response speed, small overshoot, low error, and high trajectory-tracking accuracy. It is verified that the improved ADRC algorithm has a good trajectory-tracking effect and runs smoothly in a complex water environment.
- unmanned surface reconnaissance vessel /
- active disturbance rejection control(ADRC) algorithm /
- trajectory tracking /
- genetic algorithm /
- particle swarm optimization

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参考文献(13)

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