Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO

BI Cheng; DUAN Fuhai

doi:10.11993/j.issn.2096-3920.2024-0177

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

BI Cheng, DUAN Fuhai. Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0177

Citation:

BI Cheng, DUAN Fuhai. Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0177

BI Cheng, DUAN Fuhai. Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0177

Citation:

BI Cheng, DUAN Fuhai. Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0177

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Path Tracking Optimization of Unmanned Hydrofoil Vehicle Combining ILOS with IPID-GWO

doi: 10.11993/j.issn.2096-3920.2024-0177

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China

Received Date: 2024-12-23
Accepted Date: 2025-02-08
Rev Recd Date: 2025-01-19

Available Online: 2025-07-18

Abstract

Abstract

In order to solve the path tracking problem of a new type of unmanned hydrofoil vehicle, a tracking strategy based on line of sight guidance (LOS) combined with an incremental proportional-integral-differential controller (IPID) was proposed. Firstly, the 3-DOF kinematic and dynamic models of the vehicle were established, and the control input was decoupled through the control strategy. The LOS guidance method was improved by combining the variable foresight distance and integral term. The IPID controller used the desired heading angle obtained by the ILOS algorithm to dynamically control the tracking process. The compensation input when switching the tracking point was added to the algorithm to avoid the system out of control problem caused by excessive changes. The weight coefficients in the IPID controller were optimized and compared using the Grey Wolf Algorithm (GWO) and Genetic Algorithm (GA). In Matlab, the ILOS and IPID controllers were used to track the given straight-curve mixed path in the absence and presence of interference. The tracking effect and lateral error were analyzed, and the feasibility and advancement of the combination of ILOS and IPID-GWO algorithms were verified.
- unmanned hydrofoil vehicle,
- ath tracking,
- line-of-sight guidance method,
- incremental proportional-integral-differential controller,
- grey wolf optimizer

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References(17)

References

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