Active disturbance rejection heading control of USV based on parameter tuning via an improved pigeon-inspired optimization

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Transactions of the Institute of Measurement and Control Pub Date : 2024-05-07 DOI:10.1177/01423312241239484

Yuhang Liu, Chen Wei, Haibin Duan, Wanmai Yuan

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引用次数: 0

Abstract

An improved active disturbance rejection control (ADRC) algorithm is proposed in this paper to enhance the heading control capabilities of unmanned surface vehicles (USVs) under wind and wave disturbances. The algorithm introduces two enhancements: parameter tuning and fitting, alongside the optimization of the nonlinear function in the ADRC algorithm. First, the parameter tuning employs an improved pigeon-inspired optimization (PIO) algorithm, which encompasses two strategies: the adaptive strategy and the wandering strategy. Parameter fitting ensures discretely optimized value transition into a continuous state, allowing dynamic parameter adjustments. Second, the optimization of the nonlinear function uses the D-value fitting method. Overall, the improved ADRC algorithm significantly enhances response speed to heading control commands for USVs, fortifying their resistance against wind and wave disturbances. Our proposed algorithm provides a new approach to achieve precise USV heading control.

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基于改进的鸽子启发优化参数调整的 USV 主动干扰抑制航向控制

本文提出了一种改进的主动干扰抑制控制（ADRC）算法，以增强无人水面航行器（USV）在风浪干扰下的航向控制能力。该算法在优化 ADRC 算法中的非线性函数的同时，还引入了参数调整和拟合这两项改进。首先，参数调整采用了改进的鸽子启发优化（PIO）算法，其中包括两种策略：自适应策略和徘徊策略。参数拟合可确保离散优化值过渡到连续状态，从而实现动态参数调整。其次，非线性函数的优化采用了 D 值拟合方法。总之，改进后的 ADRC 算法大大提高了 USV 对航向控制指令的响应速度，增强了其抵御风浪干扰的能力。我们提出的算法为实现 USV 精确航向控制提供了一种新方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Transactions of the Institute of Measurement and Control 工程技术-仪器仪表

CiteScore

4.10

自引率

16.70%

发文量

203

审稿时长

3.4 months

期刊介绍： Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.