Fuzzy LQR Controller for Heading Control of an Unmanned Surface Vessel
نویسندگان
چکیده
Recently the applications of unmanned systems are steadily increasing. Unmanned Surface Vessels (USV) can be used for military and rescue purposes. This paper designs a Fuzzy-LQR controller for Heading control of the USV system. A new analysis of the fuzzy system behavior presented helps to make possible precise integration of LQR features into fuzzy control. This Fuzzy-LQR controller is used to adjust the closed loop controller feedback gains in order to obtain the desired Heading (Yaw angle) under variations of the USV parameters and environmental variations. Matlab Simulink has been used to test and compare the performance of the LQR and Fuzzy-LQR controllers. The Fuzzy-LQR controller for USV is verified by simulation to show better performance by suppressing the uncertainty instability more effectively than the LQR besides minimizing the time of the mission proposed. Keywords—USV, Fuzzy control, LQR control, Heading control
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تاریخ انتشار 2013